尹贵,张小栋,陈江城,马伟光.模型不确定的下肢康复机器人轨迹跟踪自适应控制[J].电子测量与仪器学报,2016,30(11):1750-1757
模型不确定的下肢康复机器人轨迹跟踪自适应控制
Trajectory tracking adaptive control of the lower limb rehabilitation robot with model uncertainty
  
DOI:10.13382/j.jemi.2016.11.017
中文关键词:  步态轨迹跟踪控制  自适应控制  下肢康复机器人  计算力矩控制  模型不确定
英文关键词:gait trajectory tracking control  adaptive control  lower limb rehabilitation robot  computed torque control  model uncertainty
基金项目:国家高技术研究发展计划863(2015AA042301)资助项目
作者单位
尹贵 西安交通大学机械工程学院西安710049 
张小栋 1. 西安交通大学机械工程学院西安710049; 2. 西安交通大学现代设计与轴承转子系统教育部重点实验室西安710049 
陈江城 西安交通大学机械工程学院西安710049 
马伟光 西安交通大学机械工程学院西安710049 
AuthorInstitution
Yin Gui School of Mechanical Engineering, Xi’an Jiaotong University, Xi’an 710049, China 
Zhang Xiaodong 1.School of Mechanical Engineering, Xi’an Jiaotong University, Xi’an 710049, China; 2. Key Laboratory of Education Ministry for Modern Design and RotorBearing System, Xi’an Jiaotong University, Xi’an 710049, China 
Chen Jiangcheng School of Mechanical Engineering, Xi’an Jiaotong University, Xi’an 710049, China 
Ma Weiguang School of Mechanical Engineering, Xi’an Jiaotong University, Xi’an 710049, China 
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中文摘要:
      为了实现康复训练过程中高精度的轨迹跟踪控制,针对下肢康复机器人的模型参数和外界干扰等不确定性因素对其轨迹跟踪造成严重影响,提出一种模型不确定的下肢康复机器人轨迹跟踪自适应控制方法。根据所提方案,设计了相应的轨迹跟踪自适应控制器;并进行了轨迹跟踪控制仿真实验对比分析,结果表明,计算力矩控制方法在系统模型不确定时,膝关节的最大角度跟踪误差高达11.3°,髋关节最大稳态误差4.6°;而轨迹跟踪自适应控制方法在模型不确定的情况下,髋关节和膝关节的角度跟踪稳态误差均收敛于零;轨迹跟踪自适应控制方法可以显著提高下肢康复机器人轨迹跟踪的精度。
英文摘要:
      The dynamic modeling error of the lower limb rehabilitation robot caused by robot’s model parameter uncertainty and external disturbancecan affect the performance of trajectory tracking. In order to achieve the aim of high precision trajectory tracking control for the lower limb rehabilitation robot during gait rehabilitation, a trajectory tracking adaptive control method in the case of model uncertainty for the lower limb rehabilitation robot was proposed. According to the scheme proposed in this paper, the trajectory tracking adaptive controller of the lower limb rehabilitation robot was designed. Besides, the trajectory tracking control simulation experiment for the proposed algorithm was conducted and analyzed. The simulation results show thatthe computed torque controlmethod under the system model uncertain circumstance, the maximum angle tracking error of knee joint up to 11.3 degree, the maximum steady state error of hip joint is 4.6 degree;while trajectory tracking adaptive control method in the case of model uncertainty, the hip and knee joint angle tracking steady state error converges to zero. Thus thetrajectory tracking adaptive control methodcan significantly improve the trajectory tracking accuracy for lower limb rehabilitation robot.
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