To address the problems of torque limit and controller saturation in the control of robot arm joint,an anti-windup control strategy is proposed for a humanoid robot arm,which is based on the integral state prediction ...To address the problems of torque limit and controller saturation in the control of robot arm joint,an anti-windup control strategy is proposed for a humanoid robot arm,which is based on the integral state prediction under the direct torque control system of brushless DC motor. First,the arm joint of the humanoid robot is modelled. Then the speed controller model and the influence of the initial value of the integral element on the system are analyzed. On the basis of the traditional antiwindup controller,an integral state estimator is set up. Under the condition of different load torques and the given speed,the integral steady-state value is estimated. Therefore the accumulation of the speed error terminates when the integrator reaches saturation. Then the predicted integral steady-state value is used as the initial value of the regulator to enter the linear region to make the system achieve the purpose of anti-windup. The simulation results demonstrate that the control strategy for the humanoid robot arm joint based on integral state prediction can play the role of anti-windup and suppress the overshoot of the system effectively. The system has a good dynamic performance.展开更多
目的:研究手臂锻炼对经外周置入中心静脉导管(Peripherally inserted central catheter,PICC)置管的食管癌化疗患者腋静脉血流速度及肩关节功能的影响。方法:选取河南科技大学第一附属医院2021年4月至2022年11月期间96例PICC置管的食管...目的:研究手臂锻炼对经外周置入中心静脉导管(Peripherally inserted central catheter,PICC)置管的食管癌化疗患者腋静脉血流速度及肩关节功能的影响。方法:选取河南科技大学第一附属医院2021年4月至2022年11月期间96例PICC置管的食管癌化疗患者随机分组(n=48),对照组给予握球锻炼,观察组联合手臂锻炼,4 w后,采用彩色多普勒超声仪测量并记录两组患者干预前后腋静脉单位时间平均血流速度(Mean flow velocity per unit time,TMFV)、最大血流速度(Maximum blood flow velocity,V_(max))水平;采用肘关节功能量表评估患者肘关节功能;采用Constant-murley肩关节评分评估两组患者肩关节功能;采用生活质量量表(Short Form 36-item Health Survey,SF-36)评估两组患者生活质量;记录机械性静脉炎、肢体肿胀、PICC相关性血栓(Peripherally inserted central catheter related venous thrombus,PICC-related VT)、PICC导管脱出等并发症发生情况。结果:与干预前相比,对照组TMFV、V_(max)水平均降低(P<0.05),观察组V_(max)、TMFV水平变化,差异无统计学意义(P>0.05),且观察组V_(max)、TMFV水平均高于对照组(P<0.05);与干预前相比,各组肘关节运动功能、日常活动、疼痛程度评分、肩关节肌力、肩关节活动度、日常活动水平、疼痛程度评分、SF-36评分均升高,其中观察组更为显著(P<0.05);干预4 w内,两组患者机械性静脉炎、肢体肿胀、PICC导管脱出发生率比较,差异无统计学意义(P>0.05);观察组PICC-related VT发生率低于对照组(P<0.05)。结论:手臂锻炼能够有效提高PICC置管的食管癌化疗患者腋静脉血流速度,改善肩关节和肘关节功能,降低PICC-related VT发生率,提高生活质量。展开更多
According to the theory of Matsuoka neural oscillators and with the consideration of the fact that the human upper arm mainly consists of six muscles, a new kind of central pattern generator(CPG) neural network consis...According to the theory of Matsuoka neural oscillators and with the consideration of the fact that the human upper arm mainly consists of six muscles, a new kind of central pattern generator(CPG) neural network consisting of six neurons is proposed to regulate the contraction of the upper arm muscles. To verify effectiveness of the proposed CPG network, an arm motion control model based on the CPG is established.By adjusting the CPG parameters, we obtain the neural responses of the network, the angles of joint and hand of the model with MATLAB. The simulation results agree with the results of crank rotation experiments designed by Ohta et al., showing that the arm motion control model based on a CPG network is reasonable and effective.展开更多
The dynamics for multi-link spatial flexible manipulator arms is investigated.The system considered here is an N-flexible-link manipulator driven by N DC-motors through N revolute flexiblejoints.The flexibility of eac...The dynamics for multi-link spatial flexible manipulator arms is investigated.The system considered here is an N-flexible-link manipulator driven by N DC-motors through N revolute flexiblejoints.The flexibility of each flexible joint is modeled as a linearly elastic torsional spring,and the mass of the joint is also considered.For the flexibility of the link,all of the stretching deformation,bending deformation and the torsional deformation are included.The complete governing equations of motion of the system are derived via the Lagrange equations.The nonlinear description of the deformation field of the flexible link is adopted in the dynamic modeling,and thus the dynamic stiffening effects are captured.Based on this model,a general-purpose software package for dynamic simulation of multi-link spatial flexible manipulator arms is developed.Several illustrative examples are given to validate the algorithm presented in this paper and to indicate that not only dynamic stiffening effects but also the flexibility of the structure has significant influence on the dynamic performance of the manipulator.展开更多
基金Supported by the National Natural Science Foundation of China(61175090,61703249)Shandong Provincial Natural Science Foundation,China(ZR2017MF045)
文摘To address the problems of torque limit and controller saturation in the control of robot arm joint,an anti-windup control strategy is proposed for a humanoid robot arm,which is based on the integral state prediction under the direct torque control system of brushless DC motor. First,the arm joint of the humanoid robot is modelled. Then the speed controller model and the influence of the initial value of the integral element on the system are analyzed. On the basis of the traditional antiwindup controller,an integral state estimator is set up. Under the condition of different load torques and the given speed,the integral steady-state value is estimated. Therefore the accumulation of the speed error terminates when the integrator reaches saturation. Then the predicted integral steady-state value is used as the initial value of the regulator to enter the linear region to make the system achieve the purpose of anti-windup. The simulation results demonstrate that the control strategy for the humanoid robot arm joint based on integral state prediction can play the role of anti-windup and suppress the overshoot of the system effectively. The system has a good dynamic performance.
文摘目的:研究手臂锻炼对经外周置入中心静脉导管(Peripherally inserted central catheter,PICC)置管的食管癌化疗患者腋静脉血流速度及肩关节功能的影响。方法:选取河南科技大学第一附属医院2021年4月至2022年11月期间96例PICC置管的食管癌化疗患者随机分组(n=48),对照组给予握球锻炼,观察组联合手臂锻炼,4 w后,采用彩色多普勒超声仪测量并记录两组患者干预前后腋静脉单位时间平均血流速度(Mean flow velocity per unit time,TMFV)、最大血流速度(Maximum blood flow velocity,V_(max))水平;采用肘关节功能量表评估患者肘关节功能;采用Constant-murley肩关节评分评估两组患者肩关节功能;采用生活质量量表(Short Form 36-item Health Survey,SF-36)评估两组患者生活质量;记录机械性静脉炎、肢体肿胀、PICC相关性血栓(Peripherally inserted central catheter related venous thrombus,PICC-related VT)、PICC导管脱出等并发症发生情况。结果:与干预前相比,对照组TMFV、V_(max)水平均降低(P<0.05),观察组V_(max)、TMFV水平变化,差异无统计学意义(P>0.05),且观察组V_(max)、TMFV水平均高于对照组(P<0.05);与干预前相比,各组肘关节运动功能、日常活动、疼痛程度评分、肩关节肌力、肩关节活动度、日常活动水平、疼痛程度评分、SF-36评分均升高,其中观察组更为显著(P<0.05);干预4 w内,两组患者机械性静脉炎、肢体肿胀、PICC导管脱出发生率比较,差异无统计学意义(P>0.05);观察组PICC-related VT发生率低于对照组(P<0.05)。结论:手臂锻炼能够有效提高PICC置管的食管癌化疗患者腋静脉血流速度,改善肩关节和肘关节功能,降低PICC-related VT发生率,提高生活质量。
基金supported by the National Natural Science Foundation of China(Nos.11232005 and11472104)
文摘According to the theory of Matsuoka neural oscillators and with the consideration of the fact that the human upper arm mainly consists of six muscles, a new kind of central pattern generator(CPG) neural network consisting of six neurons is proposed to regulate the contraction of the upper arm muscles. To verify effectiveness of the proposed CPG network, an arm motion control model based on the CPG is established.By adjusting the CPG parameters, we obtain the neural responses of the network, the angles of joint and hand of the model with MATLAB. The simulation results agree with the results of crank rotation experiments designed by Ohta et al., showing that the arm motion control model based on a CPG network is reasonable and effective.
基金supported by the National Natural Science Foundations of China (10772085,11272155 and 11132007)333 Project of Jiangsu Province,China(BRA2011172)NUST Research Funding,China(2011YBXM32)
文摘The dynamics for multi-link spatial flexible manipulator arms is investigated.The system considered here is an N-flexible-link manipulator driven by N DC-motors through N revolute flexiblejoints.The flexibility of each flexible joint is modeled as a linearly elastic torsional spring,and the mass of the joint is also considered.For the flexibility of the link,all of the stretching deformation,bending deformation and the torsional deformation are included.The complete governing equations of motion of the system are derived via the Lagrange equations.The nonlinear description of the deformation field of the flexible link is adopted in the dynamic modeling,and thus the dynamic stiffening effects are captured.Based on this model,a general-purpose software package for dynamic simulation of multi-link spatial flexible manipulator arms is developed.Several illustrative examples are given to validate the algorithm presented in this paper and to indicate that not only dynamic stiffening effects but also the flexibility of the structure has significant influence on the dynamic performance of the manipulator.
