Performance Comparison on Assistive Standing-up Robot with Feedback and Velocity Feed-Forward Control
WANG Zhiqiang1, JIANG Hongyuan1, KAMNIK Roman2
1. School of Mechanical and Electrical Engineering, Harbin Institute of Technology, Harbin 150001, China;
2. Faculty of Electrical Engineering, University of Ljubljana, Ljubljana 1000, Slovenija
The methods of position control for an assistive standing-up robot is studied. Position control tests are carried out under different frequencies using position/velocity feedback control. The position accuracy of sliding joint of the assistive standing-up robot is higher, but that of rotary joint is lower. The velocity feed-forward control is added based on feedback control and new tests are carried out. The results show that the position accuracy of two joints of the assistive standing-up robot is significantly improved by adding velocity feed-forward control, especially for rotary joint. It proves that the position accuracy of assistive standing-up robot is effectively improved by adding the velocity feed-forward control based on feedback control.
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