Title :
Research on PID Control Technology of Upper Limb Exoskeleton Robot
Author :
He, Chen ; Zhang, Xiao-dong ; Yang, Yutao
Author_Institution :
Sch. of Engine & Energy, Northwestern Polytech. Univ., Xi´´an, China
Abstract :
In this paper, the exoskeleton robot is first briefly introduced, the mathematical model for the upper limb exoskeleton robot and the force and position double-closed-loop control system are discussed. Then the authors discuss the type design of all sectors for the control system, and the various components of the system are given. Lastly, through the use of Matlab´s Simulink software, the simulation of the upper limb exoskeleton robot is carried out and the response characteristics of the brushless DC motor PID control system are analyzed. The results show that the use of the PID control system has good characteristics of fast responsibility and stable signal output.
Keywords :
brushless DC motors; closed loop systems; control engineering computing; force control; mathematics computing; position control; robots; three-term control; Matlab Simulink software; PID control technology; brushless DC motor; force double-closed-loop control system; position double-closed-loop control system; upper limb exoskeleton robot; Analytical models; Brushless DC motors; Computer languages; Control system synthesis; Control systems; Exoskeletons; Force control; Mathematical model; Robots; Three-term control;
Conference_Titel :
Innovative Computing, Information and Control (ICICIC), 2009 Fourth International Conference on
Conference_Location :
Kaohsiung
Print_ISBN :
978-1-4244-5543-0
DOI :
10.1109/ICICIC.2009.313
