Design and Control of a Rehabilitation Arm Robot to Regulate the Patient's Activity using the Integrated Force Control and Fuzzy Logic
Authors
Toshbekov Bobur Bakhrom Ugli
Bachelor of Arts in International Relations, Webster University in Tashkent
Nurgali Zaurbekov
Position Doctor of Technical Sciences, Professor of the Department of Informatics and Informatization of Education Place of work Kazakh National Pedagogical University named after Abay
Dikambai Nurdaulet
Position Master of Pedagogical Sciences, Place of work Kazakh National Pedagogical University named after Abai, Postal address of BC CCM, Kabdolova Street, 22B
Rebeya Anzum
Postgraduate Student, Kulliyyah (faculty) of Engineering, International Islamic University Malaysia (IIUM). P.O. Box 10, 50728 Kuala Lumpur, Malaysia
Nurgali Zaurbekov
Position Doctor of Technical Sciences, Professor of the Department of Informatics and Informatization of Education, Place of work Kazakh National Pedagogical University named after Abay
Dikambai Nurdaulet
Position Master of Pedagogical Sciences, Place of work Kazakh National Pedagogical University named after Abai
The main purpose of this paper is proposing the controller system for the mechanical arm of the rehabilitation robot. For this purpose a professional controller is designed for the non-linear system of the robot with 3 degrees of freedom. In the dynamic modeling of the system, the Lagrange method will be used and the system model will be obtained. One of the issues in controller design is an uncertainty which shows itself in the form of noise and disturbances in the system. In the design of the controller, uncertainty should be considered for some sensitive parameters of the system and the final controller should be made more practical, which is robust to uncertainty. In alternative systems and robots that are designed to perform human activities, the main goal is to enhance the behavior of the robot closer to the real arm of a healthy person, both in terms of ability and flexibility. The goal of designing a control system is that it can maintain the normal performance of the system and behave stably in the presence of various system uncertainties such as length, weight and external disturbances applied to the arm. Outer covering refers to an enabling structure that enhances a person's physical capabilities. The main application of the proposed system is such as increasing the power of a sick person or a normal person with more efficiency, to regulate the behavior of the stimulus connected to tactile devices and also physiotherapy.
