FUZZY CONTROLLER FOR THE CONTROL OF THE MOBILE PLATFORM OF THE CORBYS ROBOTIC GAIT REHABILITATION SYSTEM

Maria Kyrarini, Siniša Slavnić, Danijela Ristić-Durrant

DOI Number
-
First page
223
Last page
234

Abstract


In this paper, an inverse kinematics based control algorithm for the joystick control of the mobile platform of the novel mobile robot-assisted gait rehabilitation system CORBYS is presented. The mobile platform has four independently steered and driven wheels. Given the linear and angular velocities of the mobile platform, the inverse kinematics algorithm gives as its output the steering angle and the driving angular velocity of each of the four wheels. The paper is focused on the steering control of the platform for which a fuzzy logic controller is developed and implemented. The experimental results of the real-world steering of the platform are presented in the paper.


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References


Ristić-Durrant, D., Slavnić, S., Glackin, C., 2014, CORBYS project overview: approach and achieved results, in W. Jensen et al. (eds), Replace, Repair, Restore, Relieve – Bridging Clinical and Engineering Solutions in Neurorehabilitation, Biosystems & Biorobotics, 7, pp. 139-147.

EU FP7 project CORBYS, www.corbys.eu (access date: 09.11.2014.)

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ISSN: 0354-2025 (Print)

ISSN: 2335-0164 (Online)

COBISS.SR-ID 98732551

ZDB-ID: 2766459-4