Fuzzy Tracking Control of the 3PRR Parallel Rehabilitation Robot

Subject Areas : Mechanical Engineering

Moosarreza  Shamsyeh Zahedi ¹ (Department of Mathematics, Payame Noor University, Tehran, Iran)
Zahra  Fathipour ² (Department of Mathematics, Payame Noor University, Tehran, Iran)
Majid  Anjidani ³ (Department of Computer Engineering and Information Technology, Payame Noor University, Tehran, Iran)

Received: 2022-07-02 Accepted : 2022-10-12 Published : 2022-12-01

Keywords: walking operation, fuzzy tracking control, Rehabilitation, 3PRR parallel robot, Modeling,

Abstract :

In this study, a couple of 3PRR parallel robot is used for the rehabilitation process of a patient to eliminate a walking disability and leads to his treatment. The 3PRR robot has three degrees of freedom, provided by three prismatic actuators. Also using a couple of them, can quickly rehabilitate and provide the rehabilitation movements of a patient in the walking process. In this study, the extraction of kinematic and dynamic Equations of the robot was investigated, and a fuzzy-logic-based controller is performed. This controller has the ability to repel unwanted disturbances to follow the desired path. All modelling was simulated by MATLAB software. The simulation results show that using the mathematical model and controller, it is easy to go any desired path in the workspace; and this controller will be able to repel environmental disturbances like the sudden movement of patients.

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