Independent Joint Control of a 3-DOF Robotic System Using PI Controller
The use of robotic devices for repetitive exercising of patients with upper limb sensorimotor impairment has become accepted as effective in rehabilitation therapy. Two forms of rehabilitation robotic devices for upper limb are so far available which include the exoskeleton and end-effector based de...
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| Format: | Conference or Workshop Item |
| Language: | English English English English |
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2014
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| Online Access: | http://irep.iium.edu.my/39133/ http://irep.iium.edu.my/39133/4/Sessions.pdf http://irep.iium.edu.my/39133/5/Main.pdf http://irep.iium.edu.my/39133/11/39133_Indenpendent_joint_control.pdf http://irep.iium.edu.my/39133/14/39133_Independent%20Joint%20Control%20of%20a%203-DOF_Scopus.pdf |
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iium-39133 |
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eprints |
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iium-391332019-01-10T05:01:49Z http://irep.iium.edu.my/39133/ Independent Joint Control of a 3-DOF Robotic System Using PI Controller Fatai, Sado Sidek, Shahrul Na'im Md. Yusof, Hazlina TA164 Bioengineering The use of robotic devices for repetitive exercising of patients with upper limb sensorimotor impairment has become accepted as effective in rehabilitation therapy. Two forms of rehabilitation robotic devices for upper limb are so far available which include the exoskeleton and end-effector based devices with the emphasis on proper joint coordination and control to actualize effective trajectory tracking and consequently effective therapy. An end-effector based 3 degree of freedom (3-DOF) rehabilitation platform is proposed in this work which uses brushless DC (BLDC) motor for actuation of the two revolute joints. For set-point and trajectory tracking of the revolute joints, each joint and corresponding link has been modeled has a SISO system and a PI compensator has been employed. Preliminary simulation studies showed the effectiveness of the proposed control framework. 2014 Conference or Workshop Item PeerReviewed application/pdf en http://irep.iium.edu.my/39133/4/Sessions.pdf application/pdf en http://irep.iium.edu.my/39133/5/Main.pdf application/pdf en http://irep.iium.edu.my/39133/11/39133_Indenpendent_joint_control.pdf application/pdf en http://irep.iium.edu.my/39133/14/39133_Independent%20Joint%20Control%20of%20a%203-DOF_Scopus.pdf Fatai, Sado and Sidek, Shahrul Na'im and Md. Yusof, Hazlina (2014) Independent Joint Control of a 3-DOF Robotic System Using PI Controller. In: International Conference on Computer and Communication Engineering (ICCCE 2014), 23rd – 25th September 2014, Kuala Lumpur. |
| repository_type |
Digital Repository |
| institution_category |
Local University |
| institution |
International Islamic University Malaysia |
| building |
IIUM Repository |
| collection |
Online Access |
| language |
English English English English |
| topic |
TA164 Bioengineering |
| spellingShingle |
TA164 Bioengineering Fatai, Sado Sidek, Shahrul Na'im Md. Yusof, Hazlina Independent Joint Control of a 3-DOF Robotic System Using PI Controller |
| description |
The use of robotic devices for repetitive exercising of patients with upper limb sensorimotor impairment has become accepted as effective in rehabilitation therapy. Two forms of rehabilitation robotic devices for upper limb are so far available which include the exoskeleton and end-effector based devices with the emphasis on proper joint coordination and control to actualize effective trajectory tracking and consequently effective therapy. An end-effector based 3 degree of freedom (3-DOF) rehabilitation platform is proposed in this work which uses brushless DC (BLDC) motor for actuation of the two revolute joints. For set-point and trajectory tracking of the revolute joints, each joint and corresponding link has been modeled has a SISO system and a PI compensator has been employed. Preliminary simulation studies showed the effectiveness of the proposed control framework. |
| format |
Conference or Workshop Item |
| author |
Fatai, Sado Sidek, Shahrul Na'im Md. Yusof, Hazlina |
| author_facet |
Fatai, Sado Sidek, Shahrul Na'im Md. Yusof, Hazlina |
| author_sort |
Fatai, Sado |
| title |
Independent Joint Control of a 3-DOF Robotic System Using PI Controller |
| title_short |
Independent Joint Control of a 3-DOF Robotic System Using PI Controller |
| title_full |
Independent Joint Control of a 3-DOF Robotic System Using PI Controller |
| title_fullStr |
Independent Joint Control of a 3-DOF Robotic System Using PI Controller |
| title_full_unstemmed |
Independent Joint Control of a 3-DOF Robotic System Using PI Controller |
| title_sort |
independent joint control of a 3-dof robotic system using pi controller |
| publishDate |
2014 |
| url |
http://irep.iium.edu.my/39133/ http://irep.iium.edu.my/39133/4/Sessions.pdf http://irep.iium.edu.my/39133/5/Main.pdf http://irep.iium.edu.my/39133/11/39133_Indenpendent_joint_control.pdf http://irep.iium.edu.my/39133/14/39133_Independent%20Joint%20Control%20of%20a%203-DOF_Scopus.pdf |
| first_indexed |
2023-09-18T20:56:12Z |
| last_indexed |
2023-09-18T20:56:12Z |
| _version_ |
1777410320887709696 |