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Control of the Exoskeleton Waist Robot by Using Parallel Distributed Compensation

Controller

M. Esfandiarfar Department of Mechanical Engineering, Yasouj University, Yasouj, Iran

B. Rahmani Department of Mechanical Engineering, Yasouj University, Yasouj, Iran
A. Dehghani Department of Computer Engineering, Yasouj University, Yasouj, Iran

Abstract
Musculoskeletal disorders caused by heavy workloads are very common in workers, which negatively affects workers' health and
productivity. In this regard, the idea of designing an exoskeleton robot is proposed. This robot is similar to a dress which worn on the
user's body and parallels the body, accompanying and helping the person. In this paper, the parallel distributed compensation control
method is proposed to be applied to a four degrees of freedom exoskeleton waist robot. Initially, the dynamical equations governing
the system are extracted. According to the nonlinear nature of the system, the parallel distributed compensator controller is designed
with a Takagi-Sugeno linearization approach. The closed loop system response of this controller is investigated in the Simulink
environment of the MATLAB software. The results show that the Takagi-Sugeno linearization approach accurately estimates the
nonlinear system, and also the proposed controller perfectly intercepts the optimal closed loop response.
Keywords: Exoskeleton Robot, Parallel Distributed Compensation Controller, Takagi-Sugeno Approach.

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