An Extension of Computed-Torque Control for Parallel Robots in Ankle Reeducation
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DOI: 10.1016/j.ifacol.2019.09.109
Abstract: Abstract 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… read more here.
Keywords: torque control; reeducation; control; extension computed ... See more keywords