Virtual decomposition control of an exoskeleton robot arm.
Cristóbal Ochoa-LunaMohammad Habibur RahmanMaarouf SaadPhilippe S. ArchambaultWen-Hong ZhuPublished in: Robotica (2016)
Keyphrases
- robot arm
- position control
- control strategies
- end effector
- force feedback
- inverse kinematics
- motion planning
- skill learning
- control strategy
- natural actor critic
- joint space
- control method
- control scheme
- control system
- degrees of freedom
- nonlinear systems
- position and orientation
- optimal control
- neural network
- lower extremity
- control problems
- evolutionary computation
- mathematical model