农用型外骨骼机器人起蹲过程稳定性控制研究

Agricultural Type Exoskeleton Robot Squatting Process Stability Control Research

外骨骼机器人起蹲运动的稳定问题,即实现机器人在起蹲运动中始终保持平稳。文章将从起蹲过程的轨迹优化与控制的角度出发,并结合人类的特点,提出一种外骨骼机器人误差修正的方法。利用ZMP和COM(质心)间的数学关系,计算实际的零点力矩,求得质心和零力矩点的偏差值,再根据差值对起蹲轨迹进行优化和控制,修正偏差,来实现外骨骼机器人起蹲运动平稳运行。最后使用Matlab仿真模拟,验证了起蹲过程规划与稳定性控制方法的有效性。

Exoskeleton robot up squatting movement stability problem, namely the implementation in the squat movement of the robot is always stable. This article from the squat down the perspective of trajectory optimization and control of the process, and combines the characteristic of human beings, an exoskeleton ro-bot error correction method is put forward. Using ZMP and COM （center of mass） , the mathematical rela-tionship between the actual zero moment, and get the deviation in the center o f mass and zero moment point, again according to the difference of the squat trajectory optimization and control, fixed deviation, to implement the exoskeleton robot squat movement running smoothly. The last use of Matlab simulation, to verify the squat process planning and the effectiveness o f the stability control method.