Adaptive backstepping controller based on a novel framework for dynamic solution of an ankle rehabilitation spherical parallel robot
Ali Ahmadi N,
Ali Kamali Eigoli,
Afshin Taghvaeipour
Abstract:This research offers an adaptive model-based methodology for autonomous control of 3-RRR spherical parallel manipulator (RSPM) based on a novel modeling framework. RSPM is an overconstrained parallel mechanism that has a variety of applications in medical procedures such as ankle rehabilitation because of its precision and accuracy. However, obtaining a complete explicit dynamic model of these mechanisms for tracking purposes has been a problematic challenge due to their inherent singularities, coupling effect… Show more
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