绳索牵引康复机器人控制及仿真研究  

Control and simulation of a wire-driven rehabilitative robot

作　　者：张立勋[1] 王克义[1] 徐生林[1] 

机构地区：[1]哈尔滨工程大学机电工程学院,黑龙江哈尔滨150001

出　　处：《智能系统学报》2008年第1期51-56,共6页CAAI Transactions on Intelligent Systems

基　　金：国家自然科学基金资助项目(60575053);高等学校博士学科点专项科研基金资助项目(20060217024)

摘　　要：康复机器人是典型的人机合作系统.人与机器人在同一物理空间,因此对机器人的柔顺性、安全性提出了严格要求.绳索驱动具有柔顺性好、占空间小、重量轻等特点,不会与人体产生刚性碰撞、冲击,非常适合于康复机器人的驱动控制.由于绳索的柔性使其只能承受拉力,其牵引构成冗余驱动系统,因此绳索位置伺服系统须引入力控制,保证工作时绳索具有一定的张力.针对康复训练机器人的人体骨盆控制问题,设计了基于绳索驱动的伺服控制系统,通过Matlab提供的sisotool进行PI和PD控制器的设计,并对张紧力、位置和二者之间的相互影响进行了仿真分析,证明了绳索驱动适合对骨盆规律的控制,并且可以在其他绳索牵引控制技术上得到应用和推广.Rehabilitative robots function in a typical man-machine cooperation system. In this system, robot and patient must occupy the same space, making compliance and safety essential requirements. Since wiredriven systems have such characteristics as good compliance, light weight, and without rigid hitting or striking with patients, they are well suited for driving rehabilitative robots. However, wires can only provide tensile force, so they must have an opposing driving system to regulate motion. Force control is required in a wire position servo system to ensure it demands appropriate effort from the patient and maintains the patient in the correct position. A wire position servo system was designed for control of the tootion of a human＇s pelvis. Proportional and integral （PI） and proportional and derivative （PD） controllers were designed with Sisotool in Matlab. Finally, interaction between tension and position was simulated and analyzed, proving that wire-driven modes can effectively control pelvic motion. This method can also be applied and extended to control other wire-driven modes.

关 键 词：绳索牵引 力控制 伺服控制 骨盆运动 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]