An Extension of Computed-Torque Control for Parallel Robots in Ankle Reeducation

Jorge Alvarez; Juan Carlos Arceo; Carlos Armenta; Jimmy Lauber; Miguel Bernal

doi:10.1016/j.ifacol.2019.09.109

An Extension of Computed-Torque Control for Parallel Robots in Ankle Reeducation

Jorge Alvarez, Juan Carlos Arceo, Carlos Armenta, Jimmy Lauber, Miguel Bernal

Research output: Contribution to journal › Conference article in Journal › Research › peer-review

10 Citations (Scopus)

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.

Original language	English
Book series	IFAC-PapersOnLine
Volume	52
Issue number	11
Pages (from-to)	1-6
Number of pages	6
ISSN	1474-6670
DOIs	https://doi.org/10.1016/j.ifacol.2019.09.109
Publication status	Published - 2019
Externally published	Yes
Event	5th IFAC Conference on Intelligent Control and Automation Sciences, ICONS 2019 - Belfast, United Kingdom Duration: 21 Aug 2019 → 23 Aug 2019

Conference

Conference	5th IFAC Conference on Intelligent Control and Automation Sciences, ICONS 2019
Country/Territory	United Kingdom
City	Belfast
Period	21/08/2019 → 23/08/2019

Bibliographical note

Publisher Copyright:
© 2019, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

Keywords

Ankle Reeducation Therapy
Computed-Torque Control
Differential Algebraic Equation

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10.1016/j.ifacol.2019.09.109

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Cite this

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title = "An Extension of Computed-Torque Control for Parallel Robots in Ankle Reeducation",

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.",

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Y1 - 2019

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AB - 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.

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KW - Computed-Torque Control

KW - Differential Algebraic Equation

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ER -

An Extension of Computed-Torque Control for Parallel Robots in Ankle Reeducation

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