New Joint-Drift-Free Scheme Aided with Projected ZNN for Motion Generation of Redundant Robot Manipulators Perturbed by Disturbances.
Huiyan LuLong JinJiliang ZhangZhenan SunShuai LiZhijun ZhangPublished in: IEEE Trans. Syst. Man Cybern. Syst. (2021)
Keyphrases
- robot manipulators
- inverse kinematics
- end effector
- joint angles
- control of robot manipulators
- dynamic model
- trajectory planning
- motion planning
- image sequences
- motion estimation
- error accumulation
- control scheme
- optical flow
- sliding mode
- degrees of freedom
- pid controller
- humanoid robot
- variable structure
- camera motion
- multi objective