Torque optimization for a 7DOF upper-limb power-assist exoskeleton robot.
Yoshiaki HayashiRajiv V. DubeyKazuo KiguchiPublished in: RiiSS (2011)
Keyphrases
- position control
- joint space
- degrees of freedom
- end effector
- force control
- robotic manipulator
- control scheme
- closed loop
- feedback loop
- control system
- path planning
- vision system
- joint angles
- mobile robot
- humanoid robot
- lower extremity
- parallel robot
- robot arm
- robotic arm
- control strategies
- optimization algorithm
- robotic systems
- optimization problems
- motion planning
- power consumption
- robot manipulators
- pid controller
- optimization process
- dc motor
- power losses
- control architecture
- global optimization
- autonomous robots
- control law
- human hand
- control algorithm
- inverse kinematics
- configuration space
- robot control