The Application of Adaptive Backstepping Sliding Mode for Hybrid Humanoid Robot Arm Trajectory Tracking Control
This paper presents a methodology of the dynamic analysis and control for a novel hybrid humanoid robot arm. The hybrid humanoid robot arm under consideration consists of a spherical parallel manipulator (SPM) connecting two revolute pairs in series form. The dynamic model of the hybrid humanoid rob...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2014-06-01
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| Series: | Advances in Mechanical Engineering |
| Online Access: | https://doi.org/10.1155/2014/307985 |