矢量场逐次迭代的人-机身体交流控制

Control Algorithm of Successive Iteration of Vector Field for Physical Human-Robot Interaction

为使人和机器人在身体交流中保持运动协调同步,提出了基于矢量场逐次迭代的人-机身体交流智能控制方法。对智能控制方法中具有任意目标轨迹的三维空间矢量场逐次迭代系统进行算法设计,使其输出的关节期望位移信号能与输入的扭矩信号保持同步,且同步强度要达到能实现参数可调的目的;分析了具备不同矢量场的两个逐次迭代系统的相互作用情况;以人和机器人身体交流的典型例子——下肢外骨骼助力机器人为对象,对该智能控制方法进行了应用仿真,并分析了关节扭矩成分对同步运动的影响。仿真结果表明该控制方法有效。

In order to synchronize motions between robot and human,a control method for physi-cal human-robot interaction was proposed by using successive iteration of vector field.The attractor corresponding with target trace of robot was introduced in 3 dimensional space.The vector field sys-tem with any target trajectory was designed by successive iteration for the 3D space,so that it could realize the synchronization between joint torque information as an input signal and desired trajectory of each robot joint as an output signal,and the strength of the synchronization could be varied by adjus-ting some internal parameters value in the vector field system.It was analyzed that the mutual inter-actions for two dynamics had different vector fields.Finally,the presented dynamics was applied to the control simulation of lower limb power-assisted robot,and it was analyzed that the j oint torque components influenced synchronous movement.Simulation results prove the validity of the proposed control method.