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Renata R. Lima
Departamento de Engenharia Elétrica, Universidade Federal do Ceará, CE
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Eugênio P. Júnior
Departamento de Engenharia Elétrica, Universidade Federal do Ceará, CE
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Aparecida F. de Andrade
Departamento de Engenharia Elétrica, Universidade Federal do Ceará, CE
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Bruno L. Faustino
Departamento de Engenharia Elétrica, Universidade Federal do Ceará, CE
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Fabrício G. Nogueira
Departamento de Engenharia Elétrica, Universidade Federal do Ceará, CE
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Bismark C. Torrico
Departamento de Engenharia Elétrica, Universidade Federal do Ceará, CE
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Victor Hugo C. de Albuquerque
Departamento de Engenharia de Teleinformática, Universidade Federal do Ceará, CE
Keywords:
Elbow flexion and extension, Opensim, Systems Identification, RST Controller
Abstract
This work presents the design of RST controllers for elbow flexion and extension movements through simulation. Mathematical models for the movements were identified and the RST parameters of two controllers were obtained. The operation of the controllers was evaluated operating individually and, later, in parallel. At the end, new studies are proposed to adapt the controller obtained in the simulation to be used in tests with real arm.
