Control of the Exoskeleton Waist Robot by Using Parallel Distributed Compensation Controller

Q: How can I download an article?

To download an article from SID, first log in to the site, search for the article title, and click on the 'Download Article' option.

Q: How can I download an ISI article?

To download an ISI article on SID, enter the keyword or article title in the search bar, view the relevant results, click on the desired article, and select the 'Download Article' option.

Q: How can I access the SID database?

To access the SID database, visit SID.ir, create an account, and log in to access scientific resources.

Q: Is downloading articles from SID free?

Some articles on SID are available for free, while others require payment. Details are specified on the article's page.

Esfandiarfar M.; RAHMANI B.; DEHGHANI A.

Scientific Information Database (SID) - Trusted Source for Research and Academic Resources

Journal Paper

Paper Information

Journal: JOURNAL OF MECHANICAL ENGINEERING Year:2021 | Volume:50 | Issue:4 (93) Page(s): 1-10

Download Full-Text

مرکز اطلاعات علمی Scientific Information Database (SID) - Trusted Source for Research and Academic Resources

Persian Verion

View:

836

Download:

Cites:

Information Journal Paper

Title

Control of the Exoskeleton Waist Robot by Using Parallel Distributed Compensation Controller

Author(s)

Esfandiarfar M. | RAHMANI B. | DEHGHANI A. | Issue Writer Certificate

Keywords

Exoskeleton Robot

Parallel Distributed Compensation Controller

Takagi-Sugeno Approach.

Abstract

Musculoskeletal disorders caused by heavy workloads are very common in workers, which negatively affects workers' health and productivity. In this regard, the idea of designing an Exoskeleton Robot is proposed. This robot is similar to a dress which worn on the user's body and parallels the body, accompanying and helping the person. In this paper, the parallel distributed compensation control method is proposed to be applied to a four degrees of freedom exoskeleton waist robot. Initially, the dynamical equations governing the system are extracted. According to the nonlinear nature of the system, the parallel distributed compensator controller is designed with a Takagi-Sugeno linearization approach. The closed loop system response of this controller is investigated in the Simulink environment of the MATLAB software. The results show that the Takagi-Sugeno linearization approach accurately estimates the nonlinear system, and also the proposed controller perfectly intercepts the optimal closed loop response.

Cites

No record.

References

No record.

Cite

APA: Copy

Esfandiarfar, M., RAHMANI, B., & DEHGHANI, A.. (2021). Control of the Exoskeleton Waist Robot by Using Parallel Distributed Compensation Controller. JOURNAL OF MECHANICAL ENGINEERING, 50(4 (93) ), 1-10. SID. https://sid.ir/paper/269803/en

Vancouver: Copy

Esfandiarfar M., RAHMANI B., DEHGHANI A.. Control of the Exoskeleton Waist Robot by Using Parallel Distributed Compensation Controller. JOURNAL OF MECHANICAL ENGINEERING[Internet]. 2021;50(4 (93) ):1-10. Available from: https://sid.ir/paper/269803/en

IEEE: Copy

M. Esfandiarfar, B. RAHMANI, and A. DEHGHANI, “Control of the Exoskeleton Waist Robot by Using Parallel Distributed Compensation Controller,” JOURNAL OF MECHANICAL ENGINEERING, vol. 50, no. 4 (93) , pp. 1–10, 2021, [Online]. Available: https://sid.ir/paper/269803/en

Related Journal Papers