上肢康复机器人鲁棒重复控制方法的研究

Research on Robust Repetitive Control Method for Upper Limb Rehabilitation Robot

随着现代康复医学的发展,利用机器人康复训练系统进行神经中枢康复已成为国内外研究的热点之一。所研究的5-DOF上肢康复机器人是一种辅助或替代治疗医师执行患肢康复训练的特种机器人,针对其康复训练的运动特征及机器人特性,提出了5-DOF上肢康复机器人的H?鲁棒重复控制方法。该方法在不确定机器人系统中引入状态反馈把重复控制器设计问题转化为H?状态反馈设计,从而增加系统的鲁棒稳定性又提高了系统的扰动抑制性能和跟踪性能。仿真结果表明,该方法既能够保证系统的稳定运行,且能使系统输出较好地跟踪参考输入,使系统具有鲁棒稳定性,又提高系统的扰动抑制性能和跟踪性能。

With the development of modem rehabilitation medicine, rehabilitation of nerve center using robot rehabilitation training system is becoming the main research area. In this paper, 5-DOF upper limb rehabilitation robot is a special robot which can assist or replace therapist to do rehabilitation training. So according to movement characters of rehabilitation training and mechanical own characteristic, Hoo robust repetitive control is proposed for 5-DOF upper limb rehabilitation robot. This method introduced state feedback into uncertain robot system, and then transformed design of repetitive controller into design of Ha state feedback. It makes that the system has both tracking performance and robust stability. Simulation results show that the method could rapid precision trackin~ and the system has the high stability.