In the realm of robotics, this book focuses on the construction of intelligent controllers. These advanced controllers used both conventional and non-convective control methods. Each controller design was given, and the performance of each was verified using numerical simulations of robotic systems.
First, parallel robotic systems were presented. They have demonstrated for decades that they are capable of high speeds and acceleration. In order to achieve adequate tracking performance despite non-linearity, time-varying parameters, and uncertainties, a conventional PID controller was developed to operate a four degrees of freedom parallel robot, namely the VELOCE robot.
Then there were robotic under-actuated systems and their control problems. An under-actuated system, the inertia wheel inverted pendulum, was examined for control using the adaptive fuzzy control technique. The fluctuation of the robot's characteristics, the non-linearity of the model to be controlled, and measurement errors are all taken into consideration in this control technique.
The exoskeleton-type robot for neuromotor rehabilitation was the last form of robotic system discussed in this book. The goal is to be able to provide devices that can control the mechanical forces that are distributed along the patient's limbs as they move. We concentrate on upper-limb robot control, which allows us to track the sick patient's preferred movement trajectories. The adaptive sliding mode control was presented as a way to provide a control that would allow researchers to analyse the physical human-robot interaction in a repeatable manner.Author(s) Details
Imen Saidi
Automatic Research Laboratory, LA.R.A, National Engineering School of Tunis, ENIT University of Tunis El Manar Tunis, Tunisia.
Nahla Touati
Automatic Research Laboratory, LA.R.A, National Engineering School of Tunis, ENIT University of Tunis El Manar Tunis, Tunisia.
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