Fuzzy logic controller for rehabilitation robot manipulator

摘要

In the paper fuzzy logic controller for rehabilitation robot manipulator is presented. The control object is two degree of freedom robot manipulator. In this case there are two main problems. The first is, that the object is for rehabilitation process so the quality of control system is very important problem. The next problem is with the highly nonlinear dynamics of a robot manipulator. Suggest fuzzy logic control system for that reasons. The model-based Takagi-Sugeno fuzzy control strategy is applied. Described model have two inputs (error and derivation) and one output. The first part of research, was the simulation tests. For this part simulation model was prepare. The dynamic equations was used to build a model in Matlab. During this research the main problem was suitable control quality. It is very important because control quality is connected with rehabilitation process. The control algorithms enable to movement realization and obtain set position given by the physiotherapist. The tests results show that the fuzzy logic control have good control quality.