基于力阻抗控制的手臂康复机器人实验研究

Experimental Research on Force-based Impedance Control of Arm Rehabilitation Robot

把阻抗控制理论运用于手臂康复机器人控制中,使用基于力阻抗控制模型设计了系统的控制器。利用MATLAB/Simulink系统设计工具建立了系统控制模型,并在dSPACE实时仿真平台上进行了实验研究。结果表明,通过调节控制器中的刚度系数、阻尼系数可以使手臂康复机器人具有不同的刚度特性和阻尼特性。该控制器实现了被动和主动两种训练模式中机器人的柔顺运动控制。

The robot control system adopted impedance control thoery and used force-based impedance control methods to design robot system controller.With MATLAB/Simulink system design tools,the system impedance models were established,and experimented based on the dSPACE real-time smulation platform.The results show that the rehabilitation robot can accomplish different dampness and stiffness effection by changing the damp and stiff parameters in the controller.The robot realizes compliant motion in the passive and active training mode.