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Control of a mobile rehabilitation robot using exact feedback linearisation

Schauer, Thomas

FG Regelungssysteme

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.
  • 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.