Intelligent trajectory conversion and inverse dynamic control of a 3-DOF neuro-rehabilitation platform

Sado, Fatai and Sidek, Shahrul Na'im and Md. Yusof, Hazlina (2015) Intelligent trajectory conversion and inverse dynamic control of a 3-DOF neuro-rehabilitation platform. In: 2015 10th Asian Control Conference (ASCC 2015), 31st May- 3rd June 2015, Kota Kinabalu, Sabah.

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Abstract

Tracking a desired trajectory in joint space has been favored in several robot manipulators and end-effector control scheme due to the simplicity and high sampling rate offered by the joint space scheme. This usually require the trajectory conversion process, of the desired position, velocity, and acceleration, from Cartesian space to joint space using conventional inverse kinematics solutions which have been known to have several limitations and which often pose a big challenge, computationally, and even prohibitive, to achieve, for some robot designs. In this study, an intelligent approach to the inverse kinematics problem using adaptive neuro-fuzzy inference system (ANFIS) is proposed for control of a 3-DOF end-effector based neurorehabilitation platform. The joint positions, velocities, and accelerations are achieved/predicted by means of the ANFIS networks which is trained with data obtained from the forward kinematics, velocity Jacobian and the differential of the velocity kinematics equations. Simulation studies have shown that the proposed intelligent techniques has simplified both the trajectory conversion process and the control framework while tracking is achieve to a high degree of accuracy.

Item Type:	Conference or Workshop Item (Other)
Additional Information:	3028/43671
Uncontrolled Keywords:	Joint space; Cartesian space; Inverse Kinematics; ANFIS; neuro-rehabilitation
Subjects:	T Technology > TA Engineering (General). Civil engineering (General) > TA168 Systems engineering
Kulliyyahs/Centres/Divisions/Institutes (Can select more than one option. Press CONTROL button):	Kulliyyah of Engineering > Department of Mechatronics Engineering
Depositing User:	Dr. Shahrul Naim Sidek
Date Deposited:	05 Oct 2015 10:12
Last Modified:	10 Jan 2019 12:59
URI:	http://irep.iium.edu.my/id/eprint/43671

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