Hybrid Impedance and Nonlinear Adaptive Control for a 7-DoF Upper Limb Rehabilitation Robot: Formulation and Stability Analysis.
Andrés GuatibonzaLeonardo SolaqueAlexandra VelascoLina PeñuelaPublished in: ICINCO (2021)
Keyphrases
- stability analysis
- adaptive control
- nonlinear systems
- position control
- robot arm
- control law
- closed loop
- control scheme
- force control
- end effector
- control method
- robotic manipulator
- variable structure
- control system
- adaptive controller
- visual servoing
- lyapunov function
- feedback control
- pid controller
- joint angles
- inverse kinematics
- dynamic environments
- stability margin
- control theory
- robot manipulators
- dynamic model
- reinforcement learning
- mobile robot
- fuzzy controller
- fuzzy control
- degrees of freedom
- tracking error
- path planning
- sliding mode
- control strategy
- autonomous robots
- control algorithm
- optimal control
- dynamical systems
- artificial neural networks
- control parameters