全方位轮式下肢康复训练机器人轨迹跟踪控制  

Trajectory Tracking Control of Omni-directional Wheeled Robot for Lower Limbs Rehabilitative Training

作　　者：杨俊友[1] 白殿春[1] 王硕玉[2] 赵文增[1] 

机构地区：[1]沈阳工业大学电气工程学院,辽宁沈阳110870 [2]高知工科大学智能机械电子学院,日本高知7828502

出　　处：《机器人》2011年第3期314-318,共5页Robot

基　　金：国家自然科学基金资助项目(51075281);辽宁省高等学校创新闭队项目(LT2010081)

摘　　要：全方位轮式下肢康复训练机器人需要跟踪医生给受训者设定的轨迹.机器人自身的不确定性和患者在康复训练时对机器人运行产生的干扰会影响其跟踪性能.本文设计了一种非线性L_2鲁棒控制器解决上述扰动抑制问题.给出了下肢康复训练机器人的运动学模型,并由此建立了位置误差系统的动态模型.将机器人的跟踪和不确定干扰抑制归结为L2设计问题,构造存储函数通过反推(backstepping)控制算法设计了控制函数,并由此构造了满足干扰抑制的轨迹跟踪控制器.仿真和实验结果验证了所设计控制器的有效性.Omni-directional wheeled robot for lower limbs rehabilitative training needs to track trajectory which is set by doctors.The uncertainties of the robot and the disturbances caused by trained patient affect the tracking performances. A nonlinear robust L_2 controller is presented to solve disturbance rejection problems.Kinematics model of lower limbs rehabilitative training robot is presented,thereby,a kinematics model of the position error system is established.The tracking and uncertain disturbance rejection are formulated as an L_2 control question to design control law with backstepping algorithm in a built storage function.A trajectory tracking controller meeting the disturbance rejection requirement is constructed. Simulation and experiment results show that the proposed controller is effective.

关 键 词：下肢康复机器人 轨迹跟踪 重心轨迹 鲁棒控制 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]