DocumentCode :
3181169
Title :
A novel passive path following controller for a rehabilitation robot
Author :
Zhang, X. ; Behal, A. ; Dawson, D.M. ; Chen, J.
Author_Institution :
Dept. of Electr. & Comput. Eng., Clarkson Univ., Potsdam, NY, USA
Volume :
5
fYear :
2004
fDate :
14-17 Dec. 2004
Firstpage :
5374
Abstract :
In this paper, we present a path generation and control strategy for a robotic manipulator to mimic the dynamics of a continuously reconfigurable anisotropic impedance. Motivated by a nonholonomic kinematic constraint, a dynamic path generator is designed to trace a desired contour in the robot´s workspace when an interaction force is applied at the robot´s end-effector. The proposed continuous control strategy achieves semi-global asymptotically stable path following for the robot manipulator in the presence of uncertainty in the robot dynamics. Additionally, the path generator also ensures safety by maintaining the desired net flow of energy during the human robot interaction from the user toward the manipulator. In addition to providing asymptotic path following, the control algorithm also ensures sufficiently rapid error convergence at the end-effector such that the actual energy transfer profile follows the desired energy transfer profile - thus rigorously ensuring user safety.
Keywords :
asymptotic stability; manipulator dynamics; medical robotics; path planning; service robots; uncertain systems; asymptotic path following; continuous control strategy; continuously reconfigurable anisotropic impedance; dynamic path generator; energy transfer profile; human robot interaction; nonholonomic kinematic constraint; passive path following controller; rapid error convergence; rehabilitation robot; robot dynamics uncertainty; robotic manipulator; semi-global asymptotically stable path; Anisotropic magnetoresistance; Energy exchange; Error correction; Human robot interaction; Impedance; Kinematics; Manipulator dynamics; Rehabilitation robotics; Safety; Uncertainty;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Decision and Control, 2004. CDC. 43rd IEEE Conference on
ISSN :
0191-2216
Print_ISBN :
0-7803-8682-5
Type :
conf
DOI :
10.1109/CDC.2004.1429662
Filename :
1429662
Link To Document :
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