Performance analysis between a hybrid force/position and conventional controllers for a wrist exoskeleton

• Autorzy: Avilés Valeria , Avilés Oscar F. , Aponte Jorge , Caldas Oscar I. , Mauledoux Mauricio F.

Identyfikatory

DOI

10.24425/acs.2022.141718

• Języki publikacji: EN

Abstrakty

EN

This study analyses the performances of various path controlling strategies for a 3-degrees of freedom wrist exoskeleton, by comparing key indicators, such as rise time, steady-state error, and implementation difficulty. A model was built to describe both system’s kinematics and dynamics, as well as 3 different controllers (PID, PD+, and a hybrid force/position controller) that were designed to allow each joint to perform smooth motions within anatomic ranges. The corresponding simulation was run and assessed via Matlab (version 2020a). In addition to the performance comparison, remarkable characteristics could be identified among controllers. PD+ showed higher response speed than the other controllers (about 4 times), and PID was reinforced as the technique with the easiest implementation due to the smallest matrices. The study also allowed to greater potential of the hybrid controller to interact with its environment, i.e., the robotic device.

Słowa kluczowe

EN

exoskeleton; hybrid control; force; performance; position

• Wydawca: Polish Academy of Sciences, Committee of Automatic Control and Robotics
• Czasopismo: Archives of Control Sciences
• Rocznik: 2022
• Tom: Vol. 32, No. 2
• Strony: 409--427
• Opis fizyczny: Bibliogr. 31 poz. fot., rys., tab., wzory

Twórcy

autor

Avilés Valeria

• Davinci Research Group, Mechatronics Engineering, Militar Nueva Granada University, Cr 11 No 101-80, Bogotá, Colombia

autor

Avilés Oscar F.

• Davinci Research Group, Mechatronics Engineering, Militar Nueva Granada University, Cr 11 No 101-80, Bogotá, Colombia

autor

Aponte Jorge

• Davinci Research Group, Mechatronics Engineering, Militar Nueva Granada University, Cr 11 No 101-80, Bogotá, Colombia

autor

Caldas Oscar I.

• Davinci Research Group, Mechatronics Engineering, Militar Nueva Granada University, Cr 11 No 101-80, Bogotá, Colombia

autor

Mauledoux Mauricio F.

• Davinci Research Group, Mechatronics Engineering, Militar Nueva Granada University, Cr 11 No 101-80, Bogotá, Colombia

Bibliografia

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Uwagi

1. This work was supported by the Research Vice-Rectory of the Universidad Militar Nueva Granada - Colombia, through the project ING-IMP-3124.

2. Opracowanie rekordu ze środków MEiN, umowa nr SONP/SP/546092/2022 w ramach programu "Społeczna odpowiedzialność nauki" - moduł: Popularyzacja nauki i promocja sportu (2022-2023)