骨骼服直接力控制方法研究与仿真

Research and Simulation of Exoskeleton Suit's Direct Force Control

骨骼服是一种将机械动力装置的机械能量与人的智能相结合的机器人。骨骼服控制中的难点问题是,能够有效控制骨骼服使其跟随人体运动,并保持人机之间的作用力最小。针对该问题提出了一种直接力控制策略,其特征有两点,一是在人机之间安装力传感器,使得控制器了解人的意图;二是控制器不需要精确的骨骼服数学模型,简单实用。仿真结果说明所设计的控制器能实现骨骼服对人体运动的跟踪,同时有效降低人机之间的作用力,并对环境变化和负荷变化具有一定的鲁棒性。

Exoskeleton Suit is a kind of human-machine robot which combines the human＇s intelligence with the powerful energy of mechanism.The key problem of the control of exoskeleton suit is how to control the exoskeleton suit follow the pilot＇s motion effectively and maintain the human-machine interaction force minimal.A direct force control method was proposed and it has two key features,one is some multi-axis force/torque sensors which are fitted between the pilot and the exoskeleton suit which makes the controller know the intention of the pilot,another is the controller which does not need the exact mathematical model which makes the controller simple and practical.The simulation result shows the designed controller can control the exoskeleton suit trace for the pilot＇s motion,as well as decrease the human-machine interaction force and is robust to the variation of the environment and the load.