Open Loop Dynamic Trajectory Tracking Control of a Soft Robot using Learned Inverse Kinematics combined with a Dynamic Model.
Malte GrubeSvenja DrückerRobert SeifriedPublished in: ECC (2024)
Keyphrases
- robot manipulators
- dynamic model
- inverse kinematics
- control scheme
- sliding mode
- closed loop
- end effector
- trajectory tracking
- experimental data
- robot arm
- sliding mode control
- position and orientation
- feedback control
- control law
- neural controller
- control system
- dynamic environments
- variable structure
- pid controller
- motion planning
- fuzzy controller
- input output
- neural network controller