A ROS2 based Trajectory Tracking Controller of a 3UPS-1RPU Parallel Robot for Knee Rehabilitation

The current paper analyzes the kinematics of a 3UPS/RPU parallel robot and proposes a control focused on trajectory tracking of a virtual and real prototype of the aforementioned robot for knee and ankle rehabilitation. A PD control with gravity compensation are proposed. The position of the robot actuators along with the communication and control systems are implemented on ROS2 (Robotic Operating System). By using a predefined trajectory, the results demonstrate the robustness of the controller to keep the platform stable and the actuators following the desired reference.