For the control design of elderly upper limb rehabilitation training robots,the study first constructed kinematic and dy-namic models of the elderly upper limb rehabilitation robot,and then introduced a Nonlinear Disturbance Observer based Radial Basis Function Neural Network Sliding Mode Control(NDO-RBFNNSMC).The results show that in terms of angular displacement track-ing,the mean square error value based on the NDO-RBFNNSMC comprehensive control strategy is only 4.03％,which is reduced by 4.98％,3.57％,and 11.29％compared to sliding mode control,nonlinear disturbance observer sliding mode control,and radial ba-sis function neural network control strategies,respectively.Meanwhile,based on the NDO-RBFNNSMC comprehensive control strate-gy,the time multiplied by the absolute value of the error integral is only 7.14.The comprehensive control strategy based on NDO-RBFNNSMC can be effectively applied to the intelligent control of elderly upper limb rehabilitation training robots,which helps to im-prove the rehabilitation effect and quality of life of the elderly,and also provides useful reference and promotion for the development of related fields.
关键词
NDO-RBFNNSMC/老年上肢康复训练/机器人设计/运动学及动力学建模
Key words
NDO-RBFNNSMC/elderly upper limb rehabilitation programme/golem design/phoronomics and dynamics model-ing
维普
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