2026 Vol.9 Aug.N04

• Title: Fuzzy PID Control and Simulation of an Upper Limb Rehabilitation Robot Based on Simulink
• Name: Jiale Sun12, Chenchen Zhang12, Yupeng Wang12, Chengnuo Wang12, H
• Company: (1.School of Information and Mechanical and Electrical Engincering, Zhengzhou Business University.Zhengzhou, 451200 China (2.Zhengzhou Intelligent Electromechanical Engineering Research Centre, Zhengzhou 451200 China)
• Abstract:

  To meet the rehabilitation training needs of patients with upper-limb motor dysfunction after stroke, this paper studies the trajectory tracking control of a six-degree-of-freedom (6-DOF) upper limb rehabilitation robot. First, the motion relationships among the shoulder, elbow, forearm and wrist of the robot are analyzed, and a DC motor drive model and a Simulink manipulator simulation model are established. Then, considering that the manipulator system is nonlinear and time-varying and susceptible to external disturbances, fuzzy control is introduced on the basis of conventional PID control, and a fuzzy PID controller is designed, which takes the error and the error change rate as inputs and the PID parameter corrections as outputs. Finally, a tracking simulation of a circular trajectory in the sagittal plane is carried out in Simulink and compared with conventional PID control. The simulation results show that the fuzzy PID controller features a fast response, small overshoot and good steady-state performance. It can meet the trajectory tracking requirements of the upper limb rehabilitation robot in the passive training mode and provide a reference for the engineering implementation of subsequent rehabilitation robot control systems.

  
  

• Keyword: Upper limb rehabilitation robot; Simulink; fuzzy PID; Trajectory tracking; Six degrees of freedom
• DOI: 10.12250/jpciams2026090804
• Citation form: Jiale Sun, Chenchen Zhang, Yupeng Wang, Chengnuo Wang, Haotian Liu.Fuzzy PID Control and Simulation of an Upper Limb Rehabilitation Robot Based on Simulink[J]. Computer Informatization and Mechanical System,2026,Vol.9,pp.

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