Joint Position Control Based on Fractional-Order PD and PI Controllers for the Arm of the Humanoid Robot TEO.
Jorge MuñozConcepción A. MonjeSantiago Martínez de la Casa DíazCarlos BalaguerPublished in: Int. J. Humanoid Robotics (2019)
Keyphrases
- position control
- humanoid robot
- fractional order
- pid controller
- closed loop
- control system
- joint space
- control scheme
- feedback control
- motion planning
- robot arm
- control law
- control method
- end effector
- robotic arm
- multi modal
- robotic manipulator
- particle swarm optimization
- fuzzy control
- motion capture
- dc motor
- force control
- control strategies
- control strategy
- pid control
- robot manipulators
- degrees of freedom
- fuzzy logic controller
- inverse kinematics
- pi controller
- genetic algorithm
- bp neural network
- control algorithm
- visual servoing
- intelligent control
- human motion
- inverted pendulum
- global optimization
- pso algorithm
- radial basis function
- vision system
- dynamic model
- rbf neural network