下肢康复训练机器人协作控制与S型规划算法研究

Research on collaborative control of lower limb rehabilitation training robot and S-type programming algorithm

针对下肢康复训练机器人协作控制与S型规划算法展开研究,寻找能够降低机器人驱动器控制过程中冗余振动的方法.首先利用指数积(POE)法建立了各关节连杆的相对转换关系;然后针对下肢康复机器人的特点,应用拉格朗日法求解机器人动力学问题,针对模型参数采用辨识方法实现了动力学参数获取,进而实现了下肢康复训练机器人协作控制;最后提出一种S型轨迹插补规划方法,根据定义的限制条件值给出了所有可能的轨迹形状,并且保证没有机械谐振激励.实验结果表明:协作控制与S规划算法对机器人操作性能有很大的提升,同时对于机器人的精确运动控制有着重要的意义.

In this paper,the cooperative control and S-type planning algorithm of lower limb rehabilitation training robot are studied to find a method that can reduce the redundant vibration in the control process of robot driver.Firstly,the relation of relative transformation of joint links is established by the exponential product of exponentials(POE)method.Then,aiming at the characteristics of lower limb rehabilitation robot,Lagrange method is applied to solve the robot dynamics problem,and the model parameters are acquired by identification method,so as to realize the cooperative control of lower limb rehabilitation training robot.Finally,an S-type trajectory interpolation planning method is proposed,and all possible trajectory shapes are given according to the defined constraint conditions,and no mechanical resonance excitation is guaranteed.The experimental results show that the cooperative control and S-programming algorithm greatly improve the performance of the robot,and have important significance for the precise motion control of the robot.