NDLI: Research on PID Control Technology of Upper Limb Exoskeleton Robot

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2009 Fourth International Conference on Innovative Computing, Information and Control (ICICIC)

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2008 3rd International Conference on Innovative Computing Information and Control

Second International Conference on Innovative Computing, Informatio and Control (ICICIC 2007)

First International Conference on Innovative Computing, Information and Control - Volume I (ICICIC'06)

Research on PID Control Technology of Upper Limb Exoskeleton Robot

Content Provider	IEEE Xplore Digital Library
Author	Chen He Xiao-dong Zhang Yutao Yang
Copyright Year	2009
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.
Starting Page	500
Ending Page	503
File Size	285197
Page Count	4
File Format	PDF
ISBN	9781424455430
e-ISBN	9781424455447
DOI	10.1109/ICICIC.2009.313
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-12-07
Publisher Place	Taiwan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Computer languages Analytical models Brushless DC motors Three-term control Exoskeletons Control system synthesis Control systems Mathematical model Force control Robots
Content Type	Text
Resource Type	Article

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