Force/Torque-Based Impedance Control With Perturbation Observer—Toward High Payload System Robust Trajectory Tracking

Force/Torque-Based Impedance Control With Perturbation Observer—Toward High Payload System Robust Trajectory Tracking

This paper presents a robust force/torque-based impedance control with a perturbation observer, particularly for high payload systems. One of the special cases of such systems is an assistive robot for paraplegics (ARP) with a sit-stand mechanism (STSM) and, therefore, its control is investigated fo...

Full description

Bibliographic Details
Main Authors: Hamza Khan, Min Cheol Lee, Jin Won Lee, Chengqian Li, Muhammad Salman
Format: Article
Language:English
Published: IEEE 2022-01-01
Series:IEEE Access
Subjects:
Sliding mode control
perturbation observer
assistive robot
force/torque-based impedance control
Online Access:https://ieeexplore.ieee.org/document/9945937/

Internet

https://ieeexplore.ieee.org/document/9945937/

Similar Items