绳牵引式上肢康复机器人控制系统设计与验证  

Design and verification of control system for rope traction upper limb rehabilitation robot

作　　者：张成杰 刘妤[1,2] 杨岩 梁举科[2] 杜豪 ZHANG Chengjie;LIU Yu;YANG Yan;LIANG Juke;DU Hao(Key Laboratory of Advanced Manufacturing Technology for Automobile Parts of Ministry of Education,Chongqing University of Technology,Chongqing 400054,China;College of Mechanical Engineering,Chongqing University of Technology,Chongqing 400054,China)

机构地区：[1]重庆理工大学汽车零部件先进制造技术教育部重点实验室,重庆400054 [2]重庆理工大学机械工程学院,重庆400054

出　　处：《传感器与微系统》2021年第8期96-99,103,共5页Transducer and Microsystem Technologies

基　　金：重庆市人工智能技术创新重大主题专项项目(CSTC2017RGZN—ZDYFX0010);重庆高校创新团队建设计划资助项目(CXTDG20162017);重庆市研究生科研创新项目(CYS18304)。

摘　　要：针对自主开发的六自由度绳索牵引式上肢康复机器人本体,设计了一种基于伺服电机和计算机可编程自动化控制器(CPAC)的多电机控制系统。系统由上位机模块、控制模块、执行模块等组成。针对单关节、多关节康复训练动作,分别采用Jog运动模式和Follow运动模式,结合插补算法实现了康复动作的控制;并借助光学动作捕捉系统验证了控制系统的准确性、稳定性。结果表明:单关节、多关节动作的最大绝对误差分别不超过5 mm和6 mm,随着康复训练动作角速度的增加,最大绝对误差虽有所增大,但增幅较为平缓,这表明控制系统能够实现对单关节、多关节康复训练动作的准确、柔顺控制。Aiming at the self-developed six-freedom degrees rope traction upper limb rehabilitation robot body,a multi-motor control system based on servo motor and the computer programmable automation controller(CPAC)is proposed.The control system consists of a host computer module,a control module,an execution module,etc.For the single joint and multi-joint rehabilitation training actions,the Jog motion mode and the Follow motion mode are respectively adopted to realize the control of the rehabilitation action,where combines with the interpolation algorithm.The accuracy and stability of the control system are verified by the optical motion capture system.The results show that the maximum absolute error of single joint and multi-joint movements does not exceed 5 mm and 6 mm respectively.And with the increase of angular velocity of rehabilitation training,the maximum absolute error increases,but the increase is relatively flat,which indicates that the control system can achieve accurate and compliant control of single joint and multi-joint rehabilitation exercises.

关 键 词：上肢康复机器人 计算机可编程自动化控制器 动作捕捉 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置] TP212[自动化与计算机技术—控制科学与工程]