Development of two-degree-of-freedom control for robot manipulator with biarticular muscle torque.

Sehoon Oh Yoichi Hori

Published in: ACC (2009)

Keyphrases

robot manipulators
control scheme
dynamic model
force control
control of robot manipulators
control system
control strategy
inverse kinematics
trajectory planning
induction motor
sliding mode
end effector
closed loop
objective function
evolutionary algorithm