An impedance control method of lower limb exoskeleton rehabilitation robot based on predicted forward dynamics.
Yuefei WangZhen LiuLiucun ZhuXiaoying LiHuaibin WangPublished in: TrustCom (2020)
Keyphrases
- control method
- position control
- pid controller
- desired trajectory
- control system
- control strategy
- force control
- control scheme
- lower extremity
- closed loop
- control algorithm
- trajectory tracking
- adaptive control
- pid control
- fuzzy control
- grey prediction
- robotic manipulator
- joint angles
- motor learning
- dynamic model
- control strategies
- mobile robot
- robot arm
- robot manipulators
- degrees of freedom
- physical constraints
- fuzzy controller
- end effector
- dynamical systems
- lyapunov function
- tracking error
- bi directional
- fuzzy pid
- position and orientation
- dc dc converter
- real time
- mathematical model
- matlab simulink
- feedback control
- robot control
- inverse kinematics
- operating conditions
- control law
- autonomous robots
- dc motor
- joint space
- neural network controller
- vision system
- iterative learning control
- humanoid robot
- manufacturing systems