Development of a controllerfor a 3-DOF robotic platform for user interaction in rehabilitation therapies

摘要

This work deals with the development of a controller for a robotic platform conceived as a rehabilitation device for the human upper limb. The mechanical system is a three-degree-of-freedom parallel mechanism which is coupled to the actuators, three DC-motors and the driversthat provides the desired control signals (position, velocity and current). Regarding the control system, two techniques are utilized: the computed torque control for the motion control and the impedance control for force control. Simulations are performed in MatLab software in order to evaluate the interaction with a user.