Period steady-state and autonomous control of the upper limb transfer system of rehabilitation robots
TAO Yue-gang
WANG Cai-lu
WANG Xiao-zhou
YANG Peng
Abstract：This paper investigates the period steady-state and autonomous control of the upper limb transfer system of rehabilitation robots. By using timed event graph and max-plus algebra,the mathematical model of the transfer system is established. The period formula,range of disturbance estimation and strategy of autonomous control are presented,and the robust stability with respect to the parameter perturbation is analyzed. The disturbance estimation of the period steady state can be used to improve the accuracy and compliance of the upper limb rehabilitation robot work,and the strategy of autonomous control is beneficial to ensure the real-time and safety of the robot work.The proposed estimation and control methods are easy to implement and can help to design,control and optimize the intelligent auxiliary system of the upper limb transfer movement of rehabilitation robots.
Keywords：max-plus algebratimed event graphrehabilitation robotupper limb transfer systemperiod steady-statedisturbance estimationautonomous controldiscrete event system
Publication Date：2018-01-01
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：7( 103-109 )