A Controller Of Omnidirectional Lower-Limb Rehabilitation Robot By Using The Acceleration And Velocity Information Of The Target Trajectory

For the omnidirectional lower-limb rehabilitation robot, a controller by using the acceleration and velocity information effectively of the target trajectory is proposed. The improved kinematics and dynamics model of the omnidirectional lower-limb rehabilitation robot with regard for centre-of-gravity shift are presented firstly. By including the acceleration and velocity information, the speed of covergence and accuracy of the tracking error are well improved. Finally, the proposed controller was simulated to verify the correctness by comparison with PID controller.