ADAPTIVE CONTROL OF A NOVEL CABLE—DRlVEN EXOSKELETON SYSTEM IN PATH TRACKING

This paper deals with the control of a new portable cable- driven exoskelcton system for the shoulderjoint motion. The model considered for control in this research is a11upper body robotic exoskelcton innovated at Yazd University. This system is designed to move the shoulder joint in order to perform rehabilitation exercises or help thedisabled people to handle their daily tasks. An asymptotically stable optimal control is proposed for the path tracking of this system. The use of this method leadsto the solution of the differential equations of Riecati type which are considered as the adaptation laws to be solved online with the initial conditions. The mass parameteruncertainties as well as the environmental disturbances affecting the system have been investigated. The results of the simulation of the system in the presence ofdisturbance and uncertainty indicate that the control approach has the ability to adapt to the working enviromnent and the systetn could follow the reference paths precisely.

Keywords:

exoskelcton , optimal control , Riccati , adaptive , path tracking