全方位移动康复机器人重心偏移时的轨迹跟踪控制

Trajectory Tracking Control for An Omnidirectional Rehabilitation Robot during Centre-of-gravity Shifts

在大量全方位移动康复机器人训练案例中发现,移动康复机器人由于重心偏移在训练过程中往往偏离既定轨迹,现在移动康复机器人重心偏移时的轨迹跟踪已经成为一个亟需解决的问题。本文即针对全方位下肢康复机器人重心偏移和负载变化提出一种轨迹跟踪控制策略,主要包括三方面内容:1)全方位移动康复机器人的运动学、动力学建模;2)提出一种新型轨迹跟踪方法消除重心偏移和负载变化带来的影响;3)仿真验证所提出控制方法对康复机器人跟踪行之有效。

In numerous rehabilitation training cases for omnidirectional rehabilitation robots, the robot always strays from the predefined path because of centre-of-gravity shifts and load changes？ It is found that the trajectory tracking control of mobile rehabilitation robot during centre-of-gravity shift has become an intrinsic problem with this mechanism and has more advanced demand for controller？ This paper proposes a trajectory tracking scheme for rehabilitation robots during centre-of-gravity shift and load changes. The main research contents of this paper consist of three parts： 1） The kinematic and dynamic models of the omnidirectional rehabilitation robots are presented. 2） A trajectory tracking control strategy with high accuracy is proposed to compensate the effects of centre-of-gravity shifts and load changes. 3）Simulations show that the rehabilitation robot can be controlled accurately by proposed method.