Study On The Control System Of An Arm Rehabilitative Robot

Rehabilitative robot is a new technology that has been developed rapidly in recent years; it represents the robot' s application in the medical field. This paper studies the structure and computer control of an Arm Rehabilitative robot.This robot is droved by DC-torque motor; this robot uses the mature PWM (Pulse Width Modulation) power magnifier. This paper analyzes the control system of the Arm Rehabilitative robot, mainly including building the motor model and designing the control algorithms.Arm rehabilitative robot makes use of the two-class control method. The top control unit is PC, which control the robot through the serial communication. The bottom control unit is controlled by an AT90S8535 MCU and includes L298N, keyboard and LED. The software is also designed in the paper.Finally the sample machine of Arm Rehabilitative robot is manufactured and the experiment is made. The experiment results indicate that the Robot and its control system reach the design request.