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Model reference adaptive impedance control of rehabilitation robots in operational space

Sharifi, M ; Sharif University of Technology | 2012

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  1. Type of Document: Article
  2. DOI: 10.1109/BioRob.2012.6290690
  3. Publisher: 2012
  4. Abstract:
  5. A new nonlinear model reference adaptive impedance controller is presented for the control of robot manipulators with uncertainties in model parameters such as friction coefficients. This method provides asymptotic tracking of a reference impedance model for the robot end-effector in operational space which is more sensible for the patient compared to the joint space impedance used in previous works. The model uncertainties such as friction coefficients are compensated using an adaptation law. The asymptotic tracking of the reference impedance model is shown using a Lyapunov function. The tracking performance and friction compensation are also demonstrated through simulation on a rehabilitation robot, MIT-MANUS
  6. Keywords:
  7. Adaptation law ; Asymptotic tracking ; Friction coefficients ; Friction compensation ; Impedance control ; Impedance controllers ; Joint space ; Model parameters ; Model reference adaptive ; Model uncertainties ; Non-linear model ; Operational space ; Reference impedance ; Rehabilitation robot ; Robot manipulator ; Tracking performance ; Lyapunov functions ; Robot applications ; Uncertainty analysis ; Friction
  8. Source: Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, 24 June 2012 through 27 June 2012 ; June , 2012 , Pages 1698-1703 ; 21551774 (ISSN) ; 9781457711992 (ISBN)
  9. URL: http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6290690