Aiming at the self-developed six-freedom degrees rope traction upper limb rehabilitation robot body

a multi-motor control system based on servo motor and the computer programmable automation controller（CPAC） is proposed.The control system consists of a host computer module

a control module

an execution module

etc.For the single joint and multi-joint rehabilitation training actions

the Jog motion mode and the Follow motion mode are respectively adopted to realize the control of the rehabilitation action

where combines with the interpolation algorithm.The accuracy and stability of the control system are verified by the optical motion capture system.The results show that the maximum absolute error of single joint and multi-joint movements does not exceed 5 mm and 6 mm respectively.And with the increase of angular velocity of rehabilitation training

the maximum absolute error increases

but the increase is relatively flat

which indicates that the control system can achieve accurate and compliant control of single joint and multi-joint rehabilitation exercises.