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Robust Lyapunov-based motion control of a redundant upper limb cable-driven rehabilitation robot

Published online by Cambridge University Press:  14 March 2022

Niloufar Sadat Seyfi  and
Ali Keymasi Khalaji Open the ORCID record for Ali Keymasi Khalaji [Opens in a new window]
Niloufar Sadat Seyfi
Affiliation:
Department of Mechanical Engineering, Faculty of Engineering, Kharazmi University, Tehran, 15719-14911, Iran
Ali Keymasi Khalaji*
Affiliation:
Department of Mechanical Engineering, Faculty of Engineering, Kharazmi University, Tehran, 15719-14911, Iran
*
*Corresponding author. E-mail: keymasi@khu.ac.ir
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Abstract

This research presents an upper limb cable-driven rehabilitating robot with one degree of redundancy to improve the movements of the injured. A spatial trajectory is planned through the joint limit avoidance approach to apply the limits of the joint angles, which is a new method for trajectory planning of joints with an allowed definite interval. Firstly, a Lyapunov-based control is applied to the robot with taking uncertainty and disturbances into consideration. To derive the best responses of the system with considering uncertainty and disturbances, a novel robust tracking controller, namely a computed-torque-like with independent-joint compensation, is introduced. The mentioned new robust controller has not been applied to any cable robot which is the novelty of this paper to derive a superior output and the robustness of the given approach. Stability analysis of both controllers is demonstrated and the outputs of the controllers are compared for an exact three-dimensional motion planning and desirable cable forces. Eventually, the proposed novel controller revealed a better function in the presence of uncertainties and disturbances with about 28.21% improvement in tracking errors and 69.22% improvement in the required cable forces as control inputs, which is a considerable figure.

Keywords

cable-driven rehabilitation robotLyapunov-based controlrobustnesspositive cable forcesjoint limit avoidancecomputed-torque-like control with independent-joint compensation
Type
Research Article
Information
Robotica , Volume 40 , Issue 10 , October 2022 , pp. 3355 - 3377
Copyright
© The Author(s), 2022. Published by Cambridge University Press

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