Independent joint dynamic sliding mode control of a humanoid robot arm
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Abstract: Since a rigid humanoid robot arm is kinematically redundant and composed of seven degrees of freedom at least to execute complex and dexterous ...
In this paper, an independent joint sliding mode control (IJSMC) with gravity compensation is proposed to control a 7 DOF humanoid robot arm subject to ...
The dynamic model of a humanoid robot arm with seven degrees of freedom (DOF) is highly nonlinear and complicated. A traditional controller is difficult to ...
In [20] , a robust dynamic sliding mode control law was proposed to control a multi-degreeof-freedom humanoid robot arm, and satisfactory control results had ...
Through dynamic simulation and practical experiments of the NTU Humanoid Robot Arm II, the results show that the proposed controller is better than other kinds ...
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Independent joint dynamic sliding mode control of a humanoid robot arm · Jiun ... A robust dynamic sliding mode control law design based on an independent joint ...