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The paper presents iterative learning control of an exoskeleton for human upper limbs to provide forearm movement assistance, which enables a human forearm to track any continuous desired trajectory (or constant setpoint), in the presence of parametric/functional uncertainties, unmodelled dynamics including actuator dynamics, and/or disturbances from the environment. Given desired trajectories of...
In this paper, adaptive motion/force control by dynamic coupling and output feedback is considered for nonholonomic mobile manipulators with an under-actuated joint, in the presence of parametric and functional uncertainties. It is obvious that the constraints of the system consist of kinematic constraints for the mobile platform and dynamic constraints for the under-actuated joint. Through using...
In this paper, global optimization approach using particle swarm optimization technique for motion planning of dynamic coupling robotic manipulators, involving the optimization of dynamic performance criteria, has been shown to exhibit certain advantages compared with local optimizers. In this approach, the joint torques of the robotic manipulator are approximated by parameterized B-spline functions,...
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