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Discrete-time sliding mode control of a direct-drive robot manipulator.
Geert van der Zalm
Dragaan Kostic
Bram de Jager
Published in:
CDC (2004)
Keyphrases
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robot manipulators
sliding mode control
direct drive
inverse kinematics
control scheme
sliding mode
dynamic model
end effector
pid controller
neural network
closed loop
genetic algorithm
feature selection