Control of Rehabilitation Robot Based on Fuzzy RBF Neural Network

Focus on the problems of response lag and fitter of electric drive rehabilitation robot control system,a control strategy based on fuzzy theory and RBF neural network is proposed. This paper adopts fuzzy - PID Algorithm to determine initial parameters, using fast learning ability of RBF Neural Network to solve the problem that traditional PID controller can t adjust parameters adaptively. Taking a upper limb of two bar rehabilitation robot for position tracking simulation experiment, which shows that the system controlled by this method has faster response.less overshoot.better traceability.compared with traditional impedance control methods.