Non-linear Direct Joint control for manipulator Handling a flexible payload with input Constraints.
Shuyang LiuReza LangariYuanchun LiPublished in: Int. J. Robotics Autom. (2019)
Keyphrases
- control system
- control method
- computer controlled
- robotic arm
- robot manipulators
- robotic manipulator
- control signals
- data acquisition
- master slave
- constrained optimization
- neural network
- constraint programming
- optimal control
- laparoscopic surgery
- hand eye
- force control
- human arm
- end effector
- inverse kinematics
- feedback loop
- visual servoing
- linear constraints
- geometric constraints
- control algorithm
- control strategy
- degrees of freedom
- constraint satisfaction
- vision system
- input data
- reinforcement learning
- genetic algorithm