Adaptive task-space tracking for robot manipulators with uncertain kinematics and dynamics and without using acceleration.
Zhihao XuXuefeng ZhouTaobo ChengKezheng SunDan HuangPublished in: ROBIO (2017)
Keyphrases
- robot manipulators
- tracking error
- inverse kinematics
- control of robot manipulators
- end effector
- control scheme
- dynamic model
- external disturbances
- adaptive controller
- joint angles
- sliding mode control
- trajectory planning
- desired trajectory
- control system
- real time
- pid controller
- variable structure
- closed loop
- linear combination
- pose estimation
- sliding mode
- fuzzy neural network
- fuzzy clustering