YARC - A universal kinematic controller for serial robots based on PMAC and MoveIt!
Yanyu SuYongzhuo GaoYan WuWei DongWeidong WangZhijiang DuPublished in: APSIPA (2014)
Keyphrases
- motion control
- physical constraints
- kinematic model
- parallel robot
- quadruped robot
- mobile robot
- joint space
- control system
- robotic systems
- autonomous robots
- degrees of freedom
- multi robot
- trajectory tracking
- controller design
- control algorithm
- control architecture
- robot control
- cooperative
- real time
- parallel manipulator
- legged robots
- control scheme
- neural network
- autonomous navigation
- control strategy
- optimal control
- human robot
- robotic agents
- fuzzy logic
- closed loop
- dynamic model
- adaptive fuzzy
- humanoid robot
- robotic manipulator
- robot motion
- sliding mode control
- inverse kinematics
- visual servoing
- control theory
- rough terrain
- control method
- control law
- control parameters