Robust adaptive control of a planar 3RRR parallel robot for trajectory-tracking applied to crouch gait cycle in children with cerebral palsy

This paper presents the modelling, control and simulation of a 3RRR planar parallel robot, using a robust adaptive control strategy. The objective of this work is to achieve the control over desired trajectory-tracking of the joint pattern with the end-effector of robot, considering the disturbances...

Full description

Autores:

Tipo de recurso:

Fecha de publicación:

2019

Institución:

Universidad Tecnológica de Bolívar

Repositorio:

Repositorio Institucional UTB

Idioma:

eng

OAI Identifier:

oai:repositorio.utb.edu.co:20.500.12585/8984

Acceso en línea:

https://hdl.handle.net/20.500.12585/8984

Palabra clave:

Parallel Robots
Robot Trajectory - Tracking
Robust Adaptive Control
Adaptive control systems
Automation
Controllers
Diseases
End effectors
MATLAB
Process control
Productivity
Trajectories
Children with cerebral palsies
Desired trajectories
Lyapunov's direct method
Matlab/Simulink simulation
Parallel robots
Planar parallel robots
Robot trajectory
Robust-adaptive control
Control theory

Rights

restrictedAccess

License

http://creativecommons.org/licenses/by-nc-nd/4.0/