摘要
为了让膝关节机器人能够对外界作用力具有顺从的能力,提出一种基于作用力/速度的假想柔顺控制策略。通过获取膝关节机器人与人腿间的作用力信息来控制电机的转速和转动方向,从而为人的行走提供助力。采用PID控制算法实现对直流电机地准确控制,实验的结果表明假想柔顺控制策略和PID控制算法是有效的。
In order to let the knee robot have the compliant ability to outside force,a pseudo-compliance control strange based on force/velocity is put forward.Through acquiring the acting force between the knee robot and the leg,the force is used to control the motor＇s speed and rotation direction,so the robot can offer power for person＇s walking.The precise control of the direct current motor is realized by Adopting PID algorithm.At the same time the experience results demonstrate that pseudo-compliance control strange and PID algorithm are effective.
出处
《仪表技术》
2011年第8期14-16,19,共4页
Instrumentation Technology
基金
国家自然科学基金资助项目(60875047)
国家863计划项目(2008AA040202)
