... with a flexible sleeve and a tension device, which causes delay and various frictions as disturbances to the robotic joint system. These factors make the rehabilitation robotic joint very complex to model and control. Especially in position control, the overshoot is difficult to deal with when the directions...

... maneuverability discussing various motions under different conditions (e.g., Refs. 22 23 24 25 ) but normally these include only linear damping coefficients ( 22 24 ). damping hydrodynamics marine engineering motion control plastic flow position control stability vortices wakes 10 05...

... methods feedback iterative methods learning systems nonlinear control systems PD control position control time-varying systems tracking 12 09 2009 01 07 2010 13 10 2010 13 10 2010 2011 American Society of Mechanical Engineers ...

... tool is modeled as a flexible multibody system model including a nonlinear flatness-based position control. Both the combination of a frequency shaped linear quadratic regulator with an active damping concept in a high authority control/low authority control approach and the H 2 optimal control...

... . The feedback controller computes the joint torques required to drive the model simulation and consists of two components. The Balance Controller component (Sec. 3B ) determines the stabilized joint trajectories. The Joint Position Controller component (Sec. 3D ) drives the joints to the desired angles...

.... , 2001 , “ Existence of Periodic Orbits in Grazing Bifurcations of Impacting Mechanical Oscillators ,” Nonlinearity 0951-7715 , 14 , pp. 1517 – 1542 . 10 02 2005 09 05 2005 microactuators position control displacement control open loop systems closed loop systems feedback...