Title :
Repetitive control of rehabilitation robot with multi-channel periodic input signal
Author :
Fang, Xiaoke ; Li, Xing ; Wang, Jianhui ; Dong, Liang
Author_Institution :
Coll. of Inf. Sci. & Eng., Northeastern Univ., Shenyang, China
Abstract :
This paper analyzes cause of control errors for 5 DOF exoskeleton upper-limb rehabilitation robot. Based on the method of typical repetitive control, let multiple improved repetitive control loops with filtering parallel embed into closed-loop of control system in order to eliminate motion error of rehabilitation robot with multi-channel periodic input signal. The simulation results show that the effect of system tracking is very well and it has higher stability, tracking control purpose is attained.
Keywords :
closed loop systems; medical robotics; motion control; signal detection; stability; DOF exoskeleton upper-limb rehabilitation robot; closed-loop systems; control errors; filtering; motion error; multichannel periodic input signal; repetitive control loops; stability; system tracking; Control systems; Equations; Joints; Mathematical model; Robot kinematics; Training; 5 DOF exoskeleton upper-limb rehabilitation robot; improved repetitive control; multi-channel cycle input signal;
Conference_Titel :
Intelligent Control and Automation (WCICA), 2010 8th World Congress on
Conference_Location :
Jinan
Print_ISBN :
978-1-4244-6712-9
DOI :
10.1109/WCICA.2010.5554457
