Control of Flexible Joint Robot Using Direct Adaptive Neural Networks Controller.
In-Yong LeeHan Ho TackSang-Bae LeeBoo-Kwi ParkPublished in: Int. J. Fuzzy Log. Intell. Syst. (2001)
Keyphrases
- neural network
- adaptive neural
- control signals
- control architecture
- motion control
- control system
- central pattern generator
- adaptive control
- robotic manipulator
- adaptive controller
- adaptive fuzzy
- control loop
- control strategy
- robot manipulators
- control method
- trajectory tracking
- neural network controller
- reference trajectory
- force control
- biped robot
- closed loop
- mobile robot
- wheeled mobile robot
- cmac neural network
- robotic systems
- robot control
- sliding mode control
- autonomous robots
- control scheme
- disturbance rejection
- impedance control
- optimal control
- inverted pendulum
- control rules
- control theory
- hand eye
- real time
- kinematic model
- legged robots
- control algorithm
- end effector
- feedback control
- visual servoing
- nonlinear systems
- fuzzy logic
- position control
- fuzzy controller
- iterative learning control
- robot behavior
- sliding mode
- controller design
- quadruped robot
- path planning
- humanoid robot
- fuzzy systems
- fuzzy control
- single neuron
- robust stability
- control parameters
- control law
- fuzzy logic controller
- back propagation
- pi controller
- pid controller
- human robot interaction
- motion planning
- modular robots
- vision system