摘要
介绍了基于GALIL运动控制器的踝关节康复机器人的控制系统。该踝关节康复机器人引入生物融合理念,基于4-UP(Pe)S/PS并联机构,采用PC+运动控制器相对独立运行的并行控制模式,实现踝关节复合康复运动。用户利用PC机实现康复机器人康复运动轨迹的规划,康复运动控制程序的自动编制和运动控制器程序的下载,通过操作面板控制运动控制器相对PC独立地执行程序。这种并行控制模式能够在满足康复运动相对复杂的空间康复轨迹需要的前提下,保证踝关节康复机器人系统的反应速度。该系统成功地用于踝关节康复机器人系统,取得了很好的康复效果,为PC+运动控制器模式的康复系统设计提供了范例。
The control system of ankle rehabilitation robot based on galil motion control card is described.The ankle rehabilitation robot controller which based on 4-UP(Pe)S/PS selects the parallel mode of computer and motion control card.Space trajectory of the rehabilitation can be planned and programmed automatically by a computer.The motion controller can get trajectory planning from the computer and operate independently without the computer.This model can meet the relatively complex space trajectory of the rehabilitation and ensure the rapid response of rehabilitation robot system.The control system discussed has been used in the ankle rehabilitation robot and good effect is obtained.
出处
《控制工程》
CSCD
北大核心
2009年第S2期199-201,共3页
Control Engineering of China
基金
国家自然科学基金资助项目(50675191)
