摘要
为了减少操作者和骨骼服之间的传感器,并在减小操作者施加力矩、提高操作者舒适度的情况下,实现骨骼服跟踪操作者的运动,研究了一种骨骼服灵敏度放大控制方法。利用Matlab的SimMechanics工具箱建立了骨骼服的摆动腿的单自由度和三自由度模型,作为控制对象,根据骨骼服的数学模型设计了灵敏度放大控制器,以PID控制器仿真实现人机之间的交互模型。仿真结果表明:骨骼服运动过程中,在驱动器施加较大力矩的情况下,操作者只需很小的力矩就可以摆动骨骼服,能够有效降低操作者的能量消耗,是一种行之有效的控制方法。
In order to reduce the sensors between the pilot and the exoskeleton suit,ensure that the exoskeleton suit can track the motion of the pilot while reducing the torque exerted by the pilot and increasing the comfort of the pilot.,an 1-dof and 3-dof model of the exoskeleton suit＇s swing leg was built based on the SimMechanics toolbox of matlab.The Sensitivity Amplification Controller was designed based on the mathematical model of the exoskeleton suit and a PID controller was used to describe the human-machine interface model.Simulation results show that the pilot only needs to exert a scale-down version torque compared with the actuator,and the power consumption of the pilot can be reduced,which validates the feasibility of the sensitivity amplification control method.
出处
《计算机仿真》
CSCD
北大核心
2010年第1期177-180,共4页
Computer Simulation
关键词
外骨骼
机器人
灵敏度放大控制
人机结合
Exoskeleton suit
Robot
Sensitivity amplification control
Human-machine
