基于鲁棒控制理论的上肢康复机器人系统研究  

Research on upper limb rehabilitation robot system based on robust control theory

作　　者：李嘉文 夏炎 王金武 戴尅戎 LI Jia-wen;XIA Yan;WANG Jin-wu;DAI Ke-rong(School of Biomedical Engineering,Shanghai Jiaotong University,Shanghai 200000,China;Chengdu Aircraft Industrial（Group）Co.,Ltd.,Chengdu Aircraft Industrial（Group）Co.,Ltd.,Technology Center,Chengdu 610000,China;Shanghai Key Laboratory of Orthopaedic Implants,Department of Orthopaedic Surgery,Shanghai 200011,China)

机构地区：[1]上海交通大学生物医学工程学院,上海200000 [2]航空工业成都飞机工业(集团)有限责任公司技术中心飞控室,成都610000 [3]上海市骨科内植物重点实验室,上海200011

出　　处：《信息技术》2018年第7期5-10,共6页Information Technology

基　　金：国家高技术研究发展"863计划"(2015AA020308);国家自然科学基金(81572156)

摘　　要：针对现实中康复训练的运动特性和机器人的固有属性,设计了两自由度的上肢康复机器人的鲁棒控制器。该控制器能够使得机器人带动偏瘫患者按照给定的轨迹进行精准的轨迹跟踪,包括肘关节的外屈/伸和腕关节的俯/仰,与此同时还能够保证对于有界的建模误差保持误差一致终值有界,且当机器人动力学模型误差为零时系统的跟踪误差为零,使机器人系统具有较强的鲁棒稳定性和鲁棒性。仿真结果表明,鲁棒控制策略可以使系统的跟踪误差在一定条件下趋向于零,具有良好的控制效果。In view of the motion characteristics of the rehabilitation training and the inherent attributes of the robot,a robust controller of the two degree of freedom upper limb rehabilitation robot is designed.The controller can make the robot drive tracking precise trajectory of hemiplegic patients according to the given trajectory,including the elbow flexion/extension and wrist/bent back,at the same time it can guarantee for modeling error bounded error remain uniformly ultimately bounded and the tracking error is zero when the system dynamics model of robot error zero,the robot system has robust stability and strong robustness. The simulation results show that the robust control strategy can make the tracking error of the system tend to zero under certain conditions,and has good control effect.

关 键 词：上肢康复机器人 鲁棒控制器 轨迹跟踪 系统建模误差 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]