A Study on Kinematics and Workspace Determination of a General 6-<Emphasis Type="Underline">P</Emphasis> US Robot |
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Authors: | S Nader Nabavi Alireza Akbarzadeh Javad Enferadi |
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Affiliation: | 1.FEEE, DCSELAB,HCM City University of Technology, VNU-HCM,Ho Chi Minh City,Vietnam;2.Faculty of Electronic Technology,Industrial University of Ho Chi Minh City,Ho Chi Minh City,Vietnam |
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Abstract: | This paper proposes the novel adaptive neural network (ADNN) compliant force/position control algorithm applied to a highly nonlinear serial pneumatic artificial muscle (PAM) robot as to improve its compliant force/position output performance. Based on the new adaptive neural ADNN model which is dynamically identified to adapt well all nonlinear features of the 2-axes serial PAM robot, a new hybrid adaptive neural ADNN-PID controller was initiatively implemented for compliant force/position controlling the serial PAM robot system used as an elbow and wrist rehabilitation robot which is subjected to not only the internal coupled-effects interactions but also the external end-effecter contact force variations (from 10N] up to critical value 30N]). The experiment results have proved the feasibility of the new control approach compared with the optimal PID control approach. The novel proposed hybrid adaptive neural ADNN-PID compliant force/position controller successfully guides the upper limb of subject to follow the linear and circular trajectories under different variable end-effecter contact force levels. |
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