摘要
在大量移动康复机器人训练案例中发现,移动康复机器人在训练过程中由于重心偏移往往会偏离既定轨迹,此类移动康复机器人重心偏移时的轨迹跟踪已经成为一个亟需解决的问题。本文即针对全方位下肢康复机器人重心偏移提出一种鲁棒轨迹跟踪策略,主要包括三方面内容:全方位移动康复机器人的数学建模;提出一种鲁棒跟踪策略以消除重心偏移和负载变化带来的影响;仿真表明鲁棒控制对康复机器人行之有效。
In numerous rehabilitation training cases for omnidirectional rehabilitation robots, the robot always strays from the predefined path because of centre-of-gravity shifts and load changes. It is found that the trajectory tracking control of mobile rehabilitation robot during centre-of-gravity shift has become an intrinsic problem with this mechanism. This paper proposes an robust trajectory tracking scheme for rehabilitation robots during centre-of-gravity shift and load changes. The main research contents of this paper consist of three parts： The mathematical models of the omnidirectional rehabilitation robots are presented. An robust tracking control strategy is proposed to compensate the effects of centre-of-gravity shifts and load changes. Simulations show that the rehabilitation robot can be controlled accurately by robust method.
作者
姜莹
JIANG Ying(School of Information Engineering,Shenyang University of Chemical Technology,Shenyang 110142)
出处
《现代制造技术与装备》
2018年第8期31-31,35,共2页
Modern Manufacturing Technology and Equipment
基金
辽宁省博士科研启动基金(201501073)
关键词
全方位康复机器人
鲁棒跟踪控制
重心偏移
建模
omnidirectional rehabilitation robot
robusttracking control
centre-of-gravity shift
modeling
