基于重力补偿的下肢骨骼服位置控制研究

Research on Position control with Gravity Compensation of Lower Extreme Exoskeleton Suit

关于机器人优化控制的研究,针对下肢动力特性优化进行重点解决。下肢骨骼服是一种能够显著增强人的负重能力的机器人,它能够将人的智能和机器的机械能结合起来。根据人体运动数据(CGA)将下肢骨骼服的运动划分为摆动和支撑两个阶段,分析了这两个阶段的运动特点。为了增加负荷和系统的稳定性,提出了骨骼服的运动模型,并针对下肢骨骼服支撑阶段的特点,采用位置控制方法进行控制。采用MATLAB中的s-function编写相应的仿真程序并搭建simulink模型进行仿真。仿真结果显示所设计的控制器能够使骨骼服准确迅速得跟踪人体运动,并能够显著减小人所施加的力矩,表明所设计的控制器是有效的。

Exoskeleton Suit is a kind of robots which can strengthen human＇s load-carrying ability through combining the intelligence of human with the ability of machines.The walking cycle was divided into stance phase and swing phase according to the CGA data,and then their chrematistic was analyzed.The stance model of the exoskeleton was given and the position control method was applied on it.The CGA data was used as the reference input while simulating the system built by matlab s-function.The simulation results prove that the controller has the ability to make the exoskeleton follow the human’s movement and reduce the human torque greatly,and is valid.