Tracking Control of Upper Rehabilitation Training Manipulator Based on Generalized Inverse and PSO

Because upper rehabilitation training manipulator is strongly coupled, nonlinear and time variant, thus generalized inverse method is used to solve the problem. It is finally established a composite system with the decoupled system and original system, then the manipulator is decoupled into six single input single output control subsystem. PID control method is adopted to realize trajectory tracking control. In order to simplify the algorithm and obtain better control effect, the control parameters are optimized by particle swarm optimization (PSO) algorithm. The simulation results show that the PID control method based on generalized inverse and PSO can achieve better trajectory tracking.