基于先进传感与控制技术的外骨骼机器人设计

Design of Exoskeleton Robot Based on Advanced Sensing and Control Technology

该文通过对下肢外骨骼机器人的运动学理论分析建立精确的外骨骼机器人运动学模型,为实现对机器人的高精度控制,结合惯性传感器实时获取的数据,提出一种PID与神经网络相结合的控制算法。该算法结合传统PID控制的稳定性和神经网络对非线性系统的处理能力,显著提升机器人的运动精度和响应速度。通过仿真实验验证所设计的外骨骼机器人在不同运动场景下的精确跟随以及良好的人机交互体验,为外骨骼机器人在医疗康复、工业制造等领域的实际应用提供一定的技术基础。

In this paper,an accurate exoskeleton robot kinematics model is established by analyzing the kinematics theory of the lower limb exoskeleton robot.In order to realize the high precision control of the robot,based on the real-time data obtained by the inertial sensor,a control algorithm based on the combination of PID and neural network is proposed.The algorithm combines the stability of traditional PID control and the ability of neural network to deal with nonlinear system,and significantly improves the motion accuracy and response speed of the robot.The simulation results verify the accurate follow and good human-computer interaction experience of the designed exoskeleton robot in different motion scenes,which provides a certain technical basis for the practical application of exoskeleton robot in medical rehabilitation,industrial manufacturing and other fields.