A Robust Control Strategy Applying to Omnidirectional Lower Limbs Rehabilitation Robot during Centre-of-gravity Shift
Motion control of mobile rehabilitation robot during centre-of-gravity shift is an intrinsic problem with mechanism. This paper deals with the motion control of an omnidirectional lower limbs rehabilitation robot during centre-of-gravity shift. The main research contents of this paper consist of two parts: 1) The dynamic model that considered centre-of-gravity position is integrated within the control framework. 2) A robust control strategy is developed and used to achieve the desired trajectories. Simulation tests are performed and demonstrate the feasibility and efficacy of the proposed method.
Omnidirectional Lower Limbs Rehabilitation Robot Centre-of-gravity Shift Motion Control Robust Control
Ying Jiang Baodong Bai Junyou Yang
School of Electrical Engineering, Shenyang University of Technology, Shenyang 110178, China College School of Electrical Engineering, Shenyang University of Technology, Shenyang 110178, China
国际会议
2009年中国控制与决策会议(2009 Chinese Control and Decision Conference)
广西桂林
英文
4638-4642
2009-06-17（万方平台首次上网日期，不代表论文的发表时间）