Trajectory Tracking Control of UR5 Robot: a PD with Gravity Compensation and Sliding Mode Control Comparison.
Jhon CharajaEmanuel Muñoz-PanduroOscar E. RamosRuth CanahuirePublished in: ICCAD (2020)
Keyphrases
- sliding mode control
- sliding mode
- robot manipulators
- trajectory tracking
- neural controller
- sliding mode controller
- control scheme
- mobile robot
- adaptive fuzzy
- control strategy
- dynamic model
- variable structure
- support vector regression
- neural network
- autonomous robots
- adaptive neural
- humanoid robot
- path planning
- stability analysis
- optimal control
- closed loop
- neural network controller
- artificial neural networks
- learning algorithm