FPGA-Implementation of Inverse Kinematics and Servo Controller for Robot Manipulator.
Ying-Shieh KungKuan-Hsuan TsengChia-Sheng ChenHau-Zen SzeAn-Peng WangPublished in: ROBIO (2006)
Keyphrases
- robot manipulators
- inverse kinematics
- fpga implementation
- pid controller
- control scheme
- control system
- closed loop
- transfer function
- control method
- hardware implementation
- force control
- fuzzy control
- end effector
- particle swarm optimization
- dynamic model
- control parameters
- rbf neural network
- pso algorithm
- control law
- fuzzy controller
- control algorithm
- field programmable gate array
- bp neural network
- signal processing
- joint angles
- control strategy
- robot control
- multi objective
- degrees of freedom
- image processing algorithms
- control strategies
- robot arm
- d objects
- computer vision