下肢外骨骼轨迹跟踪控制系统仿真分析

Simulation analysis of a trajectory tracking control system for a lower limb exoskeleton robot

为缓解长时间、远距离行走给人体造成的疲劳感,设计了一种6自由度下肢外骨骼机器人,并通过基于重复控制补偿的比例-积分-微分(proportional integral differential, PID)策略实现了机器人关节的驱动控制。在SolidWorks软件中设计了下肢外骨骼机器人的三维建模,并对机器人关节进行了力学分析;采用DH坐标法(denavit-hartenberg matrix, DH)建立了所设计的机器人的运动学模型,并通过空间域求解验证了模型的正确性;设计了一种基于重复控制补偿的PID控制方法,并在MATLAB软件中进行仿真。仿真结果显示:所设计的控制方法不但可有效地抑制周期性负载干扰,而且比传统PID控制方法具有更加快速、精确的控制效果。

In order to alleviate the fatigue caused by walking long distances, a six-degree-of-freedom lower limb exoskeleton robot is designed, and implements a proportional integral differential(PID) strategy based on the repetitive control compensation for the drive control of robot joints. A three dimensional modeling of the lower limb exoskeleton robot is designed in SolidWorks and the robot joints are mechanically analyzed. The kinematic model of the designed robot is developed by using the DH(denavit-hartenberg) coordinate method, and the correctness of the model is verified by solving in the spatial domain. A PID control method based on repetitive control compensation is designed and simulated in MATLAB. The simulation results show that the designed control method can not only effectively suppress the periodic load disturbance, but also has a faster and more accurate control effect than the traditional PID control method.