An adaptive neural controller and direct adaptive controllers for robot manipulators in the joint space.
Nardenio Almeida MartinsMaycol de AlencarPublished in: CIRA (2005)
Keyphrases
- robot manipulators
- end effector
- sliding mode
- joint space
- sliding mode control
- control scheme
- variable structure
- inverse kinematics
- trajectory planning
- dynamic model
- adaptive control
- neural network controller
- control system
- control strategy
- control law
- adaptive fuzzy
- pid controller
- control theory
- fuzzy neural network
- control method
- degrees of freedom
- reinforcement learning
- stability analysis
- closed loop
- neural network