Discrete-time decentralized neural block controller for a five DOF robot manipulator.
Ramón García-HernándezEdgar N. SánchezMaarouf SaadEduardo Bayro-CorrochanoPublished in: IJCNN (2009)
Keyphrases
- robot manipulators
- end effector
- control scheme
- robotic manipulator
- force control
- sliding mode control
- pid controller
- inverse kinematics
- control of robot manipulators
- sliding mode
- control system
- neural network
- dynamic model
- variable structure
- closed loop
- degrees of freedom
- control strategy
- tracking error
- control law
- single neuron
- control algorithm
- dead zone
- rough sets
- joint angles
- control method
- path planning
- experimental data
- pose estimation
- control architecture
- fuzzy neural network
- real time