An adaptive compliant motion controller for robot manipulators based on damping control.
Michel PelletierLaeeque DaneshmendPublished in: ICRA (1990)
Keyphrases
- robot manipulators
- inverse kinematics
- end effector
- control scheme
- adaptive controller
- control strategy
- dynamic model
- force control
- sliding mode control
- sliding mode
- tracking error
- motion control
- control system
- pid controller
- variable structure
- control method
- open loop
- impedance control
- control law
- closed loop
- mathematical model
- control signals
- control algorithm
- optimal control
- control strategies
- fuzzy controller
- mobile robot
- control theory
- operating conditions
- experimental data
- inverted pendulum
- lyapunov function
- adaptive fuzzy
- visual servoing
- real time
- input output
- artificial neural networks
- genetic algorithm