A regressor-free adaptive impedance controller for robot manipulators without Slotine and Li's modification: theory and experiments.
Chen-Yu KaiAn-Chyau HuangPublished in: Robotica (2015)
Keyphrases
- artificial intelligence
- robot manipulators
- control of robot manipulators
- adaptive controller
- control scheme
- force control
- sliding mode control
- pid controller
- inverse kinematics
- tracking error
- sliding mode
- dynamic model
- variable structure
- position control
- control system
- adaptive control
- closed loop
- artificial neural networks
- end effector
- optimal control
- control strategy
- real time