Dual Control for Jerk-Driven Robotics in Rehabilitative Planar Applications

Area of Science:

• Robotics
• Control Systems
• Biomechanics

Background:

• Robotic trajectory planning often relies on complex dynamic models, which can be computationally intensive.
• Controlling actuator torques directly to ensure smooth motion is challenging and prone to vibrations.
• Smooth motion is crucial for applications like upper limb rehabilitation robotics.

Purpose of the Study:

• To develop and validate a set of strategies for planning and controlling robotic device trajectories in a planar workspace.
• To implement an indirect control method using jerk-laws to manage actuator torque variations and minimize vibrations.
• To create a robotic control system that generates smooth trajectories for rehabilitation purposes.

Main Methods:

• Utilized jerk-laws, the time derivative of acceleration, as an indirect control mechanism for actuator torques.
• Developed a two-module regulator: one for trajectory generation (S-shaped path) and another for path tracking.
• Validated the approach through numerical simulations and preliminary tests, focusing on vibration smoothness appraisal.

Main Results:

• The proposed jerk-based strategies effectively control robotic trajectories by managing acceleration variations.
• The developed regulator successfully generated a smooth S-shaped trajectory for upper limb rehabilitation.
• Preliminary results and simulations demonstrated the efficacy of the approach in reducing unwanted motion effects and vibrations.

Conclusions:

• Jerk-control strategies offer an effective alternative to complex dynamic models for robotic trajectory control.
• The implemented system provides smooth motion profiles suitable for rehabilitation robotics, enhancing patient outcomes.
• The indirect control of actuator torques via jerk-laws proves efficient in minimizing vibrations and ensuring trajectory accuracy.