Model reference adaptive impedance control of rehabilitation robots in operational space

Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics

Volumn , Issue , 2012, Pages 1698-1703

  Sharifi, Mojtaba ^a   Behzadipour, Saeed ^a   Vossoughi, G R ^a  

^a SHARIF UNIVERSITY OF TECHNOLOGY   (Iran)

Author keywords

[No Author keywords available]

Indexed keywords

ADAPTATION LAW; ASYMPTOTIC TRACKING; FRICTION COEFFICIENTS; FRICTION COMPENSATION; IMPEDANCE CONTROL; IMPEDANCE CONTROLLERS; JOINT SPACE; MODEL PARAMETERS; MODEL REFERENCE ADAPTIVE; MODEL UNCERTAINTIES; NON-LINEAR MODEL; OPERATIONAL SPACE; REFERENCE IMPEDANCE; REHABILITATION ROBOT; ROBOT MANIPULATOR; TRACKING PERFORMANCE;

LYAPUNOV FUNCTIONS; ROBOT APPLICATIONS; UNCERTAINTY ANALYSIS;

FRICTION;

EID: 84867433070     PISSN: 21551774     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/BioRob.2012.6290690     Document Type: Conference Paper

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