A generalised proportional-derivative force/vision controller for torque-driven planar robotic manipulators.
Carlos Vidrios-SerranoMarco MendozaIsela BonillaBerenice Maldonado-FregosoPublished in: Kybernetika (2020)
Keyphrases
- robotic manipulator
- position control
- control scheme
- impedance control
- vision system
- closed loop
- visual servoing
- robotic systems
- control system
- degrees of freedom
- end effector
- computer vision
- real time
- control strategy
- dynamic model
- robot manipulators
- fuzzy controller
- control law
- multiple models
- control algorithm
- robot arm
- control architecture
- dc motor
- mobile robot