Kinematics analysis, design, and control of an Isoglide3 Parallel Robot (IG3PR)

Design and implementation of a control architecture for robot‐assisted orthopaedic surgery

“…The low-level controller of a parallel robot is still an open field. A fuzzy and proportional-integral-derivative (PID) control for a three-DOF parallel robot has been proposed (45). A new discrete sliding-mode control approach for parallel robot was presented to achieve accurate servo-tracking in the presence of load variations, parameter variations and non-linear dynamic interactions (46).…”

Forward kinematics modelling of a parallel ankle rehabilitation robot using modified fuzzy inference

“…In general terms, the consequent part can be represented in the form shown in (14). Where v ij is an input dependent vector, c ij is a vector of real numbers and ρ ij is the parameter vector.…”

“…In order to get a unique solution of FK an algorithm is proposed which uses sensory data for position and estimates the orientation of an end-effector with a reasonable accuracy. A 3DOF medical parallel robot is proposed in [13,14] however due to the constrained motion of its end-effector, the FK and IK analysis becomes very trivial. Recently an algebraic method has been proposed [15] which uses reduced Grobner bases and lexicographic ordering to obtain a univariate equation of higher order.…”

Kinematic analysis and trajectory generation of six joint lower limb orthotic device

“…LabVIEW based PID controller can be used to control the motion of joints to work in synchronization with the human leg and also assist to the individual as needed [3,4]. The end effector spatial position and the joint trajectory to perform any desired motion [5,6].…”