Research and Verification of Control Methods for Upper Limb Rehabilitation Robots

This paper develops a three-degree-of-freedom rehabilitation robot and establishes its mathematical model along with a Permanent Magnet Synchronous Motor (PMSM) servo control system. Using Simulink software, the current-loop control is implemented to achieve torque control and perform simulation analysis. Additionally, to overcome the effects of gravity, friction, and inertia on the motor during rehabilitation, compliance control is edited via the teach pendant to ensure smooth operation. Motor data, including rotational angle, angular speed, and instantaneous current changes, are captured during the process. Finally, the measured data from the robot's drive system are compared with the Simulink simulation results to verify the effectiveness of the proposed approach.