Alvarez, Jorge Luis (Instituto Tecnológico de Sonora), Arceo, Juan Carlos (Université Polytechnique Hauts-de-France), Armenta, Carlos (Sonora Institute of Technology), Lauber, Jimmy (Polytechnic University Hauts-de-France), Bernal, Miguel (Sonora Institute of Technology)

An Extension of Computed-Torque Control for Parallel Robots in Ankle Reeducation

Scheduled for presentation during the Regular Session "Robotics and Autonomous Vehicles" (WeA1Rob), Wednesday, August 21, 2019, 10:50−11:10,

5th IFAC International Conference on Intelligent Control and Automation Sciences, August 21-23, 2019, Queen’s University Belfast, Northern Ireland

This information is tentative and subject to change. Compiled on October 16, 2021

Abstract

This paper extends the well-known computed-torque control technique for trajectory tracking in parallel robotic manipulators, which belong to the class of nonlinear systems under algebraic restrictions. The proposed methodology is based on Euler-Lagrange modelling which, once the closed-loop kinematic chain is taken into account, leads to a system of differential algebraic equations requiring proper initialisation while controlled. The control scheme is illustrated for an ankle therapy device known as the motoBOTTE, where post-stroke patients are subject to reeducation routines corresponding to different trajectories of the parallel manipulator.