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The exoskeleton robots because of its potential applications in rehabilitation engineering, assistive robotics, and power augmentation are getting more attention in the field of robotics. Besides kinematics model and dynamic model, three type controllers are applied in position control mode, PID control, computed torque control and time delay control, respectively. For the sake of the difficulty in...
In this paper we consider the application problem of a redundant cable-driven parallel robot, tracking a reference trajectory in presence of uncertainties and disturbances. A Super Twisting controller is implemented using a recently proposed gains adaptation law [1], thus not requiring the knowledge of the upper bound of the lumped uncertainties. The controller is extended by a feedforward dynamic...
This paper presents a novel spherical rolling robot and the design procedure of an adaptive sliding mode controller for the proposed robot. Towards containing the uncertainties, the sliding mode controller is utilized and simulation tests represent the effectiveness of this method. However, the chattering phenomenon in the robot operation is the main insufficiency of this controller. Hence, in order...
In practice, robot systems are usually required to hold uncertain load whose mass may change around a certain value. In this paper, the stability of the conventional model-based Computed-Torque Control(CTC) scheme for delta robots with uncertain load is investigated. Moreover a compensation control scheme is proposed to enhance the robustness of the conventional CTC scheme. The overall control is...
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