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In this paper, we propose a novel hybrid control system for the trajectory tracking control problem of robotic systems. The design combines fuzzy system with robust adaptive control algorithm. The fuzzy system approximates the certainty equivalent-based optimal controller, while a robustifying adaptive control term is used to cope with uncertainties due to the presence of the external disturbance,...
In this work, we propose an output feedback sliding mode control (SMC) method for trajectory tracking of robotic manipulators. The design process has two steps. First, we design a stable SMC approach by assuming that all state variables are available for feedback. Then, an output feedback version of this SMC design is presented which incorporates a model-free linear observer to estimate unknown velocity...
The biomechanical analysis done in this project is to assist the development of the robot assisted stroke rehabilitation system. Thus, the analysis of the upper limbpsilas motions focus on rehabilitation training for stroke survivor. As the human upper limb system is a natural biomechanical system, which can be modeled as links connected together by different joints with its own biological properties,...
Repetitive motion on industrial workstations is at the origin of musculoskeletal disorders (MSD). There is a need for new simulation tools that allows for human motion prediction. This paper addresses the problem of realistic human motion simulation on industrial workstations. It is based on motion analysis and control synthesis on a kinematics basis. Literature and motion captures are compared. Then,...
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