全方向康复步行训练机器人的跟踪控制

Tracking control of omnidirectional rehabilitative training walker

针对全方向康复步行训练机器人在跟踪运动过程中x轴、y轴和方向角各轨迹之间存在强耦合的问题,提出了速度跟踪控制器设计方法,从而使全方向康复步行训练机器人能同时实现各个方向理想的跟踪效果.在全方向康复步行训练机器人动力学模型和运动学模型的基础上,采用输入-输出线性化方法,通过模型解析推导出四轮转速与其驱动力间的解耦状态方程,设计速度跟踪控制器,实现速度的解耦控制.将速度控制器与非线性反馈控制律相结合,可以实现对运动轨迹的跟踪.仿真实验表明,本文方法具有一定的有效性,解决了传统跟踪过程中不能同时实现运动速度和运动轨迹跟踪的问题.

In order to solve the strong coupling between the x axis,y axis and direction angle trajectory of omnidirectional rehabilitative training walker in the process of tracking movement,a speed tracking controller design method was proposed,so that the ideal tracking effect in each direction for the omnidirectional rehabilitative training walker could be realized at the same time.Based on the dynamic model and kinematic model of omnidirectional rehabilitative training walker,the input and output linearization method was adopted,and the decoupling state equation between four-wheel speed and its driving force was derived through the model anlysis.In addition,the speed tracking controller was designed,and the decoupling control of speed was realized.The speed controller was combined with the nonlinear feedback control law,which could realize the tracking of movement trajectory.The results of simulation experiments show that the proposed mehod has certain effectiveness,and can solve the probem that the movement velocity and trajectory in the traditional tracking process can not be tracked simultaneously.