Single-joint repetitive control of upper-limb rehabilitation robot

Based on motion characteristics of the upper-limb rehabilitation robot in the rehabilitation training, the article proposes to use a new method of repetitive control to restraining joint position error for upper-limb rehabilitation robot control system. First, repetitive motion of joint position regards as a fixed-cycle signal, and then designs a repetitive controller according to motion characteristics. The simulation results show that the effect of system tracking is very well and it has higher stability. It expected results have been achieved.