基于vc++6.0的上肢外骨骼康复机器人的控制系统。该控制系统通过采集卡获得机器人的关节角数据，运用非线性PID实时运算得到气动肌肉的气压给定量，并通过AD 输出实现规划的被动康复运动。-Vc++ 6.0 control system exoskeleton upper limb rehabilitation robot based on. The control system is obtained by the robot joint angle data acquisition card,