Control of Sit to Stand Mechanism of Assistive Device for Paraplegics

被引：3
|
作者：
Abdullah, A. [1 ]
Kausar, Z. [1 ]
机构：
[1] Air Univ, Dept Mechatron Engn, E-9, Islamabad, Pakistan
来源：
6TH INTERNATIONAL CONFERENCE ON MECHATRONICS AND CONTROL ENGINEERING (ICMCE 2017) | 2018年 / 1016卷
关键词：
ROBOT;
D O I：
10.1088/1742-6596/1016/1/012005
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper focuses on position control of sit to stand mechanism of a device developed at Air University for paraplegic patients. A dynamics model of the mechanism is presented. A nonlinear robust sliding mode controller is designed to position the end effector of the mechanism correctly. Stability of switching surface is ensured and control law is devised. The position control is successfully verified through simulation results.
引用
收藏
页数：5
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