文章基本信息

标题：An Extension of Computed-Torque Control for Parallel Robots in Ankle Reeducation ⁎
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作者：Jorge Alvarez ; Juan Carlos Arceo ; Carlos Armenta 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2019
卷号：52
期号：11
页码：1-6
DOI：10.1016/j.ifacol.2019.09.109
语种：English
出版社：Elsevier
摘要：This paper extends the well-known computed-torque control technique for trajectory tracking in parallel robotic manipulators, which belong to the class of nonlinear systems under algebraic restrictions. The proposed methodology is based on Euler-Lagrange modelling which, once the closed-loop kinematic chain is taken into account, leads to a system of differential algebraic equations requiring proper initialisation while controlled. The control scheme is illustrated for an ankle therapy device known as the motoBOTTE, where post-stroke patients are subject to reeducation routines corresponding to different trajectories of the parallel manipulator.
关键词：KeywordsComputed-Torque ControlDifferential Algebraic EquationAnkle Reeducation Therapy