Active Disturbance Rejection Force Control for Astronaut Rehabilitative Training Robot

Abstract

An astronaut rehabilitative training robot based on the parallel wire driven mechanism is presented to help astronauts do bench press in the microgravity environment.To solve the problems that the internal and external disturbances are large,an active disturbance rejection force controller of the astronaut rehabilitative training robot is presented based on dynamics analysis on a single wire driven unit.To verify the performance of the controller,simulation experiments are conducted by comparing with the PID controller.The results show that this controller has good dynamic and static performances,strong anti-interference ability and strong robustness to the internal parameters variations.