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Simplification of inverse kinematics routine of robot manipulators using disturbance observer in task space.

Satoshi KomadaJeongho ShinMuneaki IshidaKouhei OhnishiTakamasa Hori
Published in: ICRA (1992)
Keyphrases
  • robot manipulators
  • inverse kinematics
  • control scheme
  • end effector
  • dynamic model
  • position and orientation
  • robot arm
  • support vector
  • artificial neural networks
  • mobile robot
  • closed loop
  • pid controller
  • joint angles