Cartesian Trajectory Tracking of a 7-DOF Exoskeleton Robot Based on Human Inverse Kinematics.
Brahim BrahmiMaarouf SaadMohammad Habibur RahmanCristóbal Ochoa-LunaPublished in: IEEE Trans. Syst. Man Cybern. Syst. (2019)
Keyphrases
- inverse kinematics
- end effector
- trajectory tracking
- visual servoing
- robot manipulators
- joint angles
- degrees of freedom
- motion planning
- sliding mode
- control law
- robot arm
- lower extremity
- position control
- position and orientation
- dynamic model
- mobile robot
- sliding mode control
- closed loop
- vision system
- control scheme
- pose estimation
- physical constraints
- bi directional
- path planning
- iterative learning
- control system
- humanoid robot
- robot control
- neural network
- nonlinear systems
- adaptive control
- input output
- configuration space
- control method
- neural network structure
- camera motion
- multi modal