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Globally exponential continuous controller/observer for position tracking in robot manipulators with hysteretic joint friction.
Srinivasulu Malagari
Brian J. Driessen
Published in:
Robotica (2010)
Keyphrases
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position tracking
robot manipulators
force control
position control
control scheme
end effector
pid controller
inverse kinematics
dynamic model
closed loop
control system
robotic manipulator
variable structure
control strategy
evolutionary algorithm
human hand
sliding mode
multi objective