Experimental Investigation for Two Links Wearable Rehabilitation Robot Dynamic According to Real Body Movement and Generate the Stability of the Trajectory Tracking by Classical PID Controller
DOI:
https://doi.org/10.12970/2308-8354.2020.08.01Keywords:
Herb induced liver injury, RUCAM, acute liver failure, multiorgan failure, hemorrhagic shock, shock liver, sepsis, kava, acetaminophen, amitriptyline, cannabis.Abstract
Stable trajectory tracking is one of the most important challenges in wearable rehabilitation robots design. Feedback controllers play a critical role to achieve this goal. There are different options to implement such a controller, e.g. PID, Fuzzy and hybrid systems. Traditionally, the performance of controllers is examined by try and error on hardware setups. It can be easily translated to more wasted time and cost. In this paper, we tried to make the design process more dynamic and efficient in. first, we proposed a simulation tool (based on NEXUSES® and MATLAB®) for a wearable rehabilitation robot with two links and 3 degrees-of-freedom, which duplicates elbow, wrist, and shoulder movement in 2-D space. Then, by the help of the tool we studied the benefits and functionality of one type of controller: classical PID. Our simulation result is verified that the Classical PID is improved the stability of trajectory tracking. Keywords: Classical PID, Wearable rehabilitation robot system, two links robots.References
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