Rigid-Joint-Model Feedforward with Elastic-Joint-Model Feedback for Motion Control of a 6-DOF Industrial Robot

Genetic Feedforward-Feedback Controller for Functional Electrical Stimulation Control of Elbow Joint Angle

Background: Functional electrical stimulation (FES) is the most commonly used system for restoring functions after spinal cord injury (SCI). Objective: In this study we investigated feedback PID and feedforward-feedback P-PID controllers for regulating the elbow joint angle. Methods: The controllers were tuned based on a nonlinear muculoskeletal model containing two links, one joint with one de...

Industrial robot motion control for joint tracking in laser welding

combined neural network feedforward and rise feedback control structure for a 5 dof upper-limb exoskeleton robot with asymptotic tracking

control of robotic systems is an interesting subject due to their wide spectrum applications in medicine, aerospace and other industries. this paper proposes a novel continuous control mechanism for tracking problem of a 5-dof upper-limb exoskeleton robot. the proposed method is a combination of a recently developed robust integral of the sign of the error (rise) feedback and neural network (nn...

Optimized Joint Trajectory Model with Customized Genetic Algorithm for Biped Robot Walk

Biped robot locomotion is one of the active research areas in robotics. In this area, real-time stable walking with proper speed is one of the main challenges that needs to be overcome. Central Pattern Generators (CPG) as one of the biological gait generation models, can produce complex nonlinear oscillation as a pattern for walking. In this paper, we propose a model for a biped robot joint tra...

genetic feedforward-feedback controller for functional electrical stimulation control of elbow joint angle

background: functional electrical stimulation (fes) is the most commonly used system for restoring functions after spinal cord injury (sci). objective: in this study we investigated feedback pid and feedforward-feedback p-pid controllers for regulating the elbow joint angle. methods: the controllers were tuned based on a nonlinear muculoskeletal model containing two links, one joint with one de...