Cartesian trajectory tracking of an upper limb exoskeleton robot.
Mohammad Habibur RahmanMaarouf SaadCristóbal Ochoa-LunaJean-Pierre KennéPhilippe S. ArchambaultPublished in: IECON (2012)
Keyphrases
- trajectory tracking
- closed loop
- bi directional
- control method
- dynamic model
- physical constraints
- control system
- visual servoing
- iterative learning
- control law
- sliding mode
- iterative learning control
- lower extremity
- mobile robot
- position control
- wheeled mobile robots
- robot control
- control scheme
- control algorithm
- feedback control
- neural network structure
- real time
- vision system
- stability analysis
- variable structure
- degrees of freedom
- pid controller
- motion planning
- autonomous robots
- joint space
- image space
- control strategy
- camera motion
- mathematical model
- fuzzy logic
- computer vision