A Safe Interaction of Robot Assisted Rehabilitation, Based on Model-Free Impedance Control with Singularity Avoidance
نویسندگان
چکیده
منابع مشابه
A Safe Interaction of Robot Assisted Rehabilitation, Based on Model-Free Impedance Control with Singularity Avoidance
In this paper, a singularity-free control methodology for the safe robot-human interaction is proposed using a hybrid control technique in robotic rehabilitation applications. With the use of max-plus algebra, a hybrid controller is designed to guarantee feasible robot motion in the vicinity of the kinematic singularities or going through and staying at the singular configuration. The approach ...
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ژورنال
عنوان ژورنال: IAES International Journal of Robotics and Automation (IJRA)
سال: 2015
ISSN: 2089-4856,2089-4856
DOI: 10.11591/ijra.v4i2.pp98-108