Single-joint Repetitive Control of Upper-limb Rehabilitation Robot

摘要：

Based on motion characteristics of the upper-limb rehabilitation robot in the rehabilitation training, the article proposes to use a new method of repetitive control to restraining joint position error for upper-limb rehabilitation robot control system. First, repetitive motion of joint position regards as a fixed-cycle signal, and then designs a repetitive controller according to motion characteristics. The simulation results show that the effect of system tracking is very well and it has higher stability. It expected results have been achieved.

关键词： upper-limb rehabilitation robot joint position error repetitive control

作者: Jianhui Wang Xing Li Xiaoke Fang Liang Dong

作者单位: School of Information Science and Engineering, Northeastern University, Shenyang, 110004 School of Information Science and Engineering, Northeastern University, Shenyang, 110004 School of I

会议类型: 国际会议

会议名称: The 22nd China Control and Decision Conference(2010年中国控制与决策会议)

会议地点: 徐州

会议语种:英文

页码: 1330-1333

在线出版日期: 2010-05-26（万方平台首次上网日期，不代表论文的发表时间）