Dynamic modelling and friction compensated control of a robot manipulator joint.

Sebastião C. P. Gomes J. P. Chretien

Published in: ICRA (1992)

Keyphrases

robot manipulators
force control
inverse kinematics
control of robot manipulators
end effector
control scheme
trajectory planning
multi objective
dynamic model
disturbance rejection
genetic algorithm
dynamic environments
optimal control
pid controller
fuzzy neural network
tracking error