Sliding mode control merging compensator for 6-DOF industrial robot manipulator with unknown environment.
Jun HeMinzhou LuoTao LiMinling WangPublished in: ROBIO (2015)
Keyphrases
- sliding mode control
- robot manipulators
- end effector
- sliding mode
- inverse kinematics
- control scheme
- dynamic model
- pid controller
- dynamic environments
- closed loop
- motion planning
- adaptive fuzzy
- fuzzy neural network
- neural network
- real time
- path planning
- mobile robot
- expert systems
- tracking error
- decision making
- variable structure