The current paper analyzes the kinematics of a 3UPS/RPU parallel robot and proposes a control focused on trajectory tracking of a virtual and real prototype of the aforementioned robot for knee and ankle rehabilitation. A PD control with gravity compensation are proposed. The position of the robot actuators along with the communication and control systems are implemented on ROS2 (Robotic Operating System). By using a predefined trajectory, the results demonstrate the robustness of the controller to keep the platform stable and the actuators following the desired reference.


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    Titel :

    A ROS2 based Trajectory Tracking Controller of a 3UPS-1RPU Parallel Robot for Knee Rehabilitation


    Beteiligte:
    Arcos, Luis (Autor:in) / Vicente, Kleber (Autor:in) / Cruz, Patricio (Autor:in) / Abad, Jacqueline (Autor:in) / Zambrano, Ivan (Autor:in)


    Erscheinungsdatum :

    2022-10-11


    Format / Umfang :

    7196828 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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