'Penerbit Universiti Kebangsaan Malaysia (UKM Press)'
Abstract
In this paper, the development of controlling a six Degree of Freedom (DOF) Lower Limb Exoskeleton (LLE)
model using the Robot Operating System (ROS) is presented. Moreover, this work proposes a method to analyze
kinematic properties and control of the LLE before the prototype. The model of the LLE is described using
Extensible Markup Language (XML) programming in the Unified Robot Description Format (URDF). The
dynamic equation of the six-DoF LLE is determined by using Newton-Euler. In addition, a Proposition-Integral-
Derivative (PID) controller is established in a feedback closed-loop control system. The PID controller is tuned
via Ziegler-Nichols (Z-N). The tuned PID controller is tested in the Gazebo environment to confirm the
performance of the proposed method. The nodes and topics flow chart of the programmed 3-D model of the LLE
is described. Furthermore, a desired angular trajectory based on the phase on walking is defined for each joint
of the LLE. The result shows that the actual pursue the desired angular trajectory for each joint. The average and
maximum error of the angular trajectories for all the joints are less than 0.05 radian. It can be ascertained that
our developed LLE model in the Gazebo simulator can be used for giving an overview of the walking pattern