Abstract
The present paper deals with the topical issues of the control system development for electric drives of the powered (active) exoskeleton designed for industrial applications. Two types of implementation of the control system (control system with force sensor (CSFS) and control system with motion sensor (CSMS)) are presented. Different types of the measuring complex allow to evaluate the operator’s activity and to form the driving signals for electric drives. Particular attention is paid to the simulation of nonlinear properties of the electric drive and the measuring system. To assess the results of numerical simulations, a comprehensive criterion for evaluating the quality indicators of the control system was developed and optimization possibilities for the control system parameters were studied. A comparative analysis of two approaches to the feedback loop implementation for the purposes of the control system has been presented, and a few proposals for their practical application have been outlined in the chapter.
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The work was supported by RFBR, research project No. 19-01-00540.
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Jatsun, S., Malchikov, A., Yatsun, A. (2020). Comparative Analysis of the Industrial Exoskeleton Control Systems. In: Ronzhin, A., Shishlakov, V. (eds) Proceedings of 14th International Conference on Electromechanics and Robotics “Zavalishin's Readings”. Smart Innovation, Systems and Technologies, vol 154. Springer, Singapore. https://doi.org/10.1007/978-981-13-9267-2_6
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DOI: https://doi.org/10.1007/978-981-13-9267-2_6
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