上肢康复机器人等速运动控制算法的研究  

Control Algorithms of Isokinetic Training Process for Upper Limb Rehabilitation Robot

作　　者：陈密杰 王钰[1] CHEN Mi-jie;WANG Yu(College of Mechanical and Electrical Engineering,Qingdao University,Qingdao 266071,China)

机构地区：[1]青岛大学机电工程学院,山东青岛266071

出　　处：《控制工程》2022年第1期76-82,共7页Control Engineering of China

基　　金：山东省科技发展计划资助项目(40214010075)。

摘　　要：等速运动康复的目标是保证人的手臂在用不断增加的力矩驱动机械臂转动时,机械臂转速始终被控制在预设值不变,且人机的肩关节轴要动态对齐。针对上述要求,通过采集机器人关节伺服电机电枢绕组中的电流值和转子的转速,确定外力矩、电机力矩和转速之间的关系,据此建立等速运动控制算法,并以人手臂肩关节的屈展角度为变量,找出机器臂肩关节轴在高度方向对齐人肩关节轴的函数关系,进而建立了考虑速度和位置双重因素下的人机肩关节轴动态对齐控制算法。通过将上述控制算法用于实物样机的控制,证明了控制算法的正确性。该研究为控制上肢等速运动康复提供了参考。The goal of isokinetic exercise rehabilitation is to ensure that when the human arm drives the robot arm to rotate with increasing torque,the speed of robot arm is always controlled to a preset value,and shoulder joint axis of human and robot is dynamically aligned.In response to the above requirements,the relationship between the external torque,the motor torque and the rotational speed is determined by collecting the current value in the armature winding of the robot joint servo motor and the rotational speed of the rotor.Based on this,a constant speed motion control algorithm is established.Taking the flexion and extension angle of the human shoulder joint as a variable,the function of the shoulder joint axis of the robot arm aligned with the shoulder joint axis of the human in the height direction is established.The dynamic alignment control algorithm of the shoulder joint axis of human and robot considering the speed and position is established.By applying the above control algorithm to the control of the physical prototype,the correctness of the control algorithm is proved.It is a reference for controlling isokinetic motion rehabilitation of upper limbs.

关 键 词：等速运动康复 主动运动 等速运动控制 肩关节轴动态对齐 多线程编程 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]