Please use this identifier to cite or link to this item: http://dx.doi.org/10.14279/depositonce-6487
Main Title: Control of a mobile rehabilitation robot using exact feedback linearisation
Author(s): Schauer, Thomas
Type: Article
Language Code: en
Abstract: This contribution is concerned with the feedback control of a table-placed mobile rehabilitation robot using exact feedback linearisation to precisely track arbitrary position and orientation profiles. An outer control loop exactly linearises and decouples the nonlinear kinematic robot model. This loop also generates reference velocities for the three omnidirectional wheels of the robot that are feedback controlled by individual digital controllers on a inner loop level. The concept was validated in simulations.
URI: https://depositonce.tu-berlin.de//handle/11303/7212
http://dx.doi.org/10.14279/depositonce-6487
Issue Date: 2013
Date Available: 28-Nov-2017
DDC Class: 610 Medizin, Gesundheit
Subject(s): nonlinear control
robotics
rehabilitation
Usage rights: Terms of German Copyright Law
Journal Title: Biomedical engineering = Biomedizinische Technik
Publisher: De Gruyter
Publisher Place: Berlin [u.a.]
Volume: 58
Issue: Suppl. 1
Publisher DOI: 10.1515/bmt-2013-4423
EISSN: 0013-5585
ISSN: 1862-278X
Notes: Dieser Beitrag ist mit Zustimmung des Rechteinhabers aufgrund einer (DFG geförderten) Allianz- bzw. Nationallizenz frei zugänglich.
This publication is with permission of the rights owner freely accessible due to an Alliance licence and a national licence (funded by the DFG, German Research Foundation) respectively.
Appears in Collections:Fachgebiet Regelungssysteme » Publications

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