Robust Time Delay Estimation Based Intelligent PID Control of a 6DOF Upper-Limb Exoskeleton Robot

Abstract

This paper will focus on a 6DOF upper-limb powered exoskeleton of healthy people or disabled people as the research object. After analyzing the human body physiological structure, this paper puts forward its own upper-limb powered exoskeleton model and designes a complete mechanical structure using SolidWorks. Then, it carries out a thorough analysis on the selected upper-limb powered exoskeleton model, using D-H matrix to establish the corresponding kinematics model; After that, this paper proposes robust time delay estimation based intelligent PID controllers (TDE-iPIDs) to control this exoskeleton model, which has simple structures, easy to adjust control parameters and strong ability to resist uncertainty. Then, this paper establishes a virtual prototype and imported it into MATLAB/SimMechanics to do simulation. Finally, the simulation results are given out.