Adaptive Force and Position Control Based on Quasi-Time Delay Estimation of Exoskeleton Robot for Rehabilitation.
Brahim BrahmiMaarouf SaadMohammad Habibur RahmanAbdelkrim BrahmiPublished in: IEEE Trans. Control. Syst. Technol. (2020)
Keyphrases
- position control
- force control
- robotic manipulator
- control scheme
- closed loop
- robot arm
- control system
- control strategies
- end effector
- feedback loop
- degrees of freedom
- robot manipulators
- impedance control
- control strategy
- pid controller
- dc motor
- control architecture
- robotic systems
- virtual reality
- control law
- tactile sensing
- inverse kinematics
- pid control
- operating conditions
- feedback control
- real time
- position and orientation
- fuzzy control
- fuzzy controller
- control method
- path planning
- video sequences