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Intelligent internal model control of robots for upper-limb rehabilitation

Pham, D. T. and Fahmy, Ashraf 2005. Intelligent internal model control of robots for upper-limb rehabilitation. Presented at: 16th IFAC World Congress 2005, Prague, Czech Republic, 4-8 July 2005. Published in: Zitek, Pavel ed. Proceedings of the 16th IFAC World Congress, 2005. International Federation of Automatic Control, p. 1130. 10.3182/20050703-6-CZ-1902.01131

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Abstract

This paper presents a neuro-fuzzy internal model Cartesian controller for robot manipulators. An inductive learning technique is applied to generate the required inverse dynamics and inverse kinematics modelling rules from input/output measurements. A fully differentiable fuzzy neural network is used to construct the adaptive sections of the controller for on-line parameters adaptation. A fuzzy-PID-like incremental controller is employed as feedback servo-controller. The internal model Cartesian controller is implemented using inverse kinematics and forward kinematics models of the robot. The proposed control system was tested using a dynamics model of a six-axis industrial robot to perform upper-limb rehabilitation. The obtained results demonstrate the validity of the proposed control scheme.

Item Type: Conference or Workshop Item (Paper)
Date Type: Publication
Status: Published
Schools: Centre for Advanced Manufacturing Systems At Cardiff (CAMSAC)
Engineering
Subjects: T Technology > TA Engineering (General). Civil engineering (General)
Publisher: International Federation of Automatic Control
ISBN: 9783902661753
ISSN: 14746670
Last Modified: 29 Apr 2016 03:46
URI: http://orca-mwe.cf.ac.uk/id/eprint/69257

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