Repetitive Control of Rehabilitation Robot with Multi-Channel Periodic Input Signal

被引：0
|
作者：
Fang, Xiaoke [1 ]
Li, Xing [1 ]
Wang, Jianhui [1 ]
Dong, Liang [2 ]
机构：
[1] Northeastern Univ, Coll Informat Sci & Engn, Shenyang, Liaoning Provin, Peoples R China
[2] Shenyang Univ, Coll Informat Sci & Engn, Shenyang, Liaoning Provin, Peoples R China
来源：
2010 8TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION (WCICA) | 2010年
关键词：
5 DOF exoskeleton upper-limb rehabilitation robot; multi-channel cycle input signal; improved repetitive control;
D O I：
10.1109/WCICA.2010.5554457
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 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.
引用
收藏
页码：6605 / 6609
页数：5
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