控制理论(社会学)
弹道
角位移
流离失所(心理学)
角速度
MATLAB语言
接头(建筑物)
数学
均方误差
计算机科学
物理
工程类
结构工程
几何学
控制(管理)
人工智能
操作系统
统计
量子力学
心理学
心理治疗师
天文
作者
José Luis Sarmiento-Ramos,Annette Paola Rojas-Ariza,Yendy Zaurith Rueda-Parra
标识
DOI:10.1109/ci-ibbi54220.2021.9626105
摘要
This work presents the modeling, control, and simulation of flexion/extension and abduction/adduction of the shoulder joint complex. The dynamic models of the shoulder movements are obtained using Euler-Lagrange formulation and are built in Simulink (MATLAB) using the nonlinear second-order differential equations derived from the dynamic analysis. An angular displacement feedback PID control, representing the human natural neuromusculoskeletal control, is implemented in the model for trajectory tracking of the shoulder movements. Simulations are carried out for the average Colombian adult and using sinusoidal waves as reference trajectories, and the angular displacement tracking is evaluated in terms of the maximum relative error (RME) and root mean square error (RMSE). Simulation results showed superior angular displacement tracking with errors below 0.82[°] in magnitude and 1.23%.
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