外骨骼上肢康复机器人滑模控制策略研究

Research on Sliding Mode Control Strategy of Exoskeleton Upper Limb Rehabilitation Robot

介绍一种外骨骼型上肢康复机器人,在分析其运动学和动力学的基础上,推导一种滑模控制算法并分析其收敛性。在MATLAB/Simulink环境中建立了机器人的控制实验模型,通过实验验证了所设计的控制器对康复机器人的运动具有较好的控制效果,可以满足上肢康复训练的要求。

An exoskeleton type upper limb rehabilitation robot is introduced.Based on the analysis of the kinematics and dynamics of the rehabilitation robot,the derivation process of the sliding mode control algorithm and the convergence of the control method are analyzed.In the MATLAB/Simulink environment,a control experiment model of the rehabilitation robot is established.The experiment verifies that the designed controller is effective in controlling the rehabilitation robot,which meets the training requirements of upper limb rehabilitation.