A Robust Control Strategy Applying to Omnidirectional Lower Limbs Rehabilitation Robot during Centre-of-gravity Shift

被引：0
|
作者：
Jiang, Ying [1 ]
Bai, Baodong [1 ]
Yang, Junyou [1 ]
机构：
[1] Shenyang Univ Technol, Sch Elect Engn, Shenyang 110178, Peoples R China
来源：
CCDC 2009: 21ST CHINESE CONTROL AND DECISION CONFERENCE, VOLS 1-6, PROCEEDINGS | 2009年
关键词：
Omnidirectional Lower Limbs Rehabilitation Robot; Centre-of-gravity Shift; Motion Control; Robust Control; H-INFINITY-CONTROL; NONLINEAR-SYSTEMS;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
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.
引用
收藏
页码：4638 / 4642
页数：5
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