Niu Jie, Yang Qianqian, Chen Guangtao, Song Rong
IEEE Int Conf Rehabil Robot. 2017 Jul;2017:664-669. doi: 10.1109/ICORR.2017.8009324.
This paper introduces a cable-driven robot for upper-limb rehabilitation. Kinematic and dynamic of this rehabilitation robot is analyzed. A sliding mode controller combined with a nonlinear disturbance observer is proposed to control this robot in the presence of disturbances. Simulation is carried out to prove the effectiveness of the proposed control scheme, and the results of the proposed controller is compared with a PID controller and a traditional sliding mode controller. Results show that the proposed controller can effectively improve the tracking performance as compared with the other two controllers and cause lower chattering as compared with a traditional sliding mode controller.
本文介绍了一种用于上肢康复的缆索驱动机器人。分析了该康复机器人的运动学和动力学。提出了一种结合非线性干扰观测器的滑模控制器，用于在存在干扰的情况下控制该机器人。进行了仿真以证明所提出控制方案的有效性，并将所提出控制器的结果与PID控制器和传统滑模控制器进行了比较。结果表明，与其他两种控制器相比，所提出的控制器可以有效地提高跟踪性能，并且与传统滑模控制器相比，抖振更低。
