Iterative Feedback Tuning for the joint controllers of a 7-DOF Whole Arm Manipulator.
Zaira Pineda RicoAndrea Lecchini-VisintiniRodrigo Quian QuirogaPublished in: CDC (2012)
Keyphrases
- robotic arm
- degrees of freedom
- joint angles
- human arm
- inverse kinematics
- end effector
- joint space
- control system
- motion planning
- robotic manipulator
- path planning
- feedback loop
- human hand
- robot arm
- position control
- master slave
- robot manipulators
- position and orientation
- reinforcement learning
- pose estimation
- visual servoing
- closed loop
- hand gestures
- control scheme
- trajectory tracking
- mobile robot
- force feedback
- control law
- computer controlled
- iterative methods
- control strategy
- motion capture
- visual feedback
- user feedback
- vision system
- laparoscopic surgery
- human operators
- parameter tuning
- parallel manipulator
- feedback mechanisms
- controller design
- rule selection
- neural network
- proportional integral derivative
- genetic algorithm