Design and torque control base on neural network PID of a variable stiffness joint for rehabilitation robot.
Bingshan HuBinghao MaoSheng LuHongliu YuPublished in: Frontiers Neurorobotics (2022)
Keyphrases
- neural network
- position control
- control system
- control scheme
- control method
- controller design
- control signals
- temperature control
- robot manipulators
- control algorithm
- pid controller
- robotic manipulator
- mobile robot
- control strategy
- fault diagnosis
- artificial neural networks
- joint space
- force control
- robot control
- robotic systems
- dc motor
- dynamic model
- proportional integral derivative
- bp neural network
- control theory
- feedback loop
- path planning
- robotic arm
- vision system
- sensory motor
- fuzzy logic
- autonomous robots
- fuzzy controller