Abstract
This paper extends the well-known computed-torque control technique for trajectory tracking in parallel robotic manipulators, which belong to the class of nonlinear systems under algebraic restrictions. The proposed methodology is based on Euler-Lagrange modelling which, once the closed-loop kinematic chain is taken into account, leads to a system of differential algebraic equations requiring proper initialisation while controlled. The control scheme is illustrated for an ankle therapy device known as the motoBOTTE, where post-stroke patients are subject to reeducation routines corresponding to different trajectories of the parallel manipulator.
Originalsprog | Engelsk |
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Bogserie | IFAC-PapersOnLine |
Vol/bind | 52 |
Udgave nummer | 11 |
Sider (fra-til) | 1-6 |
Antal sider | 6 |
ISSN | 1474-6670 |
DOI | |
Status | Udgivet - 2019 |
Udgivet eksternt | Ja |
Begivenhed | 5th IFAC Conference on Intelligent Control and Automation Sciences, ICONS 2019 - Belfast, Storbritannien Varighed: 21 aug. 2019 → 23 aug. 2019 |
Konference
Konference | 5th IFAC Conference on Intelligent Control and Automation Sciences, ICONS 2019 |
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Land/Område | Storbritannien |
By | Belfast |
Periode | 21/08/2019 → 23/08/2019 |
Bibliografisk note
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