Research on PID Control Technology of Upper Limb Exoskeleton Robot

Author

He, Chen ; Zhang, Xiao-dong ; Yang, Yutao

Author_Institution

Sch. of Engine & Energy, Northwestern Polytech. Univ., Xi´´an, China

fYear

2009

fDate

7-9 Dec. 2009

Firstpage

500

Lastpage

503

Abstract

In this paper, the exoskeleton robot is first briefly introduced, the mathematical model for the upper limb exoskeleton robot and the force and position double-closed-loop control system are discussed. Then the authors discuss the type design of all sectors for the control system, and the various components of the system are given. Lastly, through the use of Matlab´s Simulink software, the simulation of the upper limb exoskeleton robot is carried out and the response characteristics of the brushless DC motor PID control system are analyzed. The results show that the use of the PID control system has good characteristics of fast responsibility and stable signal output.

Keywords

brushless DC motors; closed loop systems; control engineering computing; force control; mathematics computing; position control; robots; three-term control; Matlab Simulink software; PID control technology; brushless DC motor; force double-closed-loop control system; position double-closed-loop control system; upper limb exoskeleton robot; Analytical models; Brushless DC motors; Computer languages; Control system synthesis; Control systems; Exoskeletons; Force control; Mathematical model; Robots; Three-term control;

fLanguage

English

Publisher

ieee

Conference_Titel

Innovative Computing, Information and Control (ICICIC), 2009 Fourth International Conference on

Conference_Location

Kaohsiung

Print_ISBN

978-1-4244-5543-0

Type

conf

DOI

10.1109/ICICIC.2009.313

Filename

5412370