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Advanced robotic technology has become a significant component in many medical specialties, including in rehabilitation tasks such as physiotherapy. Rehabilitation programs are a practical approach created to assist patients, such as stroke victims, in retrieving their missing functional capacity, obtaining new skills, and enhancing their quality of life. Nevertheless, rehabilitation treatments need...
In this paper, a dynamic identification method for a robot manipulator is investigated. A robust adaptive differentiator based on higher order sliding modes is used to estimate the state of the system. A theoretical proof of the convergence of this robust differentiator is given. A frequency analysis in term of filtering is provided and a comparison with a filter based on a classical differentiator...
A composite tracking control scheme, consisting of an adaptive friction estimation and a robust controller, is proposed for a robot manipulator to achieve a tracking control objective under the influence of unknown friction and uncertainty. The adaptive friction estimation is used to estimate the extent of friction, which includes Coulomb friction, viscous friction and the Stribeck effect, and then...
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