Resonance-based motion control method for multi-joint robot through combining stiffness adaptation and iterative learning control.
Mitsunori UemuraSadao KawamuraPublished in: ICRA (2009)
Keyphrases
- desired trajectory
- control method
- iterative learning control
- trajectory tracking
- physical constraints
- control algorithm
- control system
- pid controller
- control strategy
- adaptive control
- iterative learning
- closed loop
- fuzzy controller
- fuzzy control
- lyapunov function
- sliding mode
- humanoid robot
- control scheme
- control law
- manufacturing systems
- dc dc converter
- video sequences