气动人工肌肉外骨骼机器人位置跟踪控制  

Tracking Trajectory Control of Pneumatic Artificial Muscle Exoskeleton

作　　者：赵智睿 张航[1] 肖计春 刘明芳 李醒 郝丽娜[1] ZHAO Zhi-rui;ZHANG Hang;XIAO Ji-chun;LIU Ming-fang;LI Xing;HAO Li-na(School of Mechanical Engineering and Automation, Northeastern University, Shenyang, Liaoning 110819;State Key Laboratory of Synthetical Automation for Process Industries, Northeastern University, Shenyang, Liaoning 110819;School of Electrical Engineering & Intelligentization, Dongguan University of Technology, Dongguan, Guangdong 523808)

机构地区：[1]东北大学机械工程及自动化学院,辽宁沈阳110819 [2]东北大学流程工业综合自动化国家重点实验室,辽宁沈阳110819 [3]东莞理工大学电子工程与智能化学院,广东东莞523808

出　　处：《液压与气动》2022年第4期10-16,共7页Chinese Hydraulics & Pneumatics

基　　金：国家自然科学基金(62073063,61873054)。

摘　　要：针对以气动人工肌肉作为关节驱动器的外骨骼机器人关节位置跟踪控制问题进行了研究。首先,在动力学模型的基础上,设计了上层控制器,并结合自适应控制和滑模控制方法降低了动力学参数不准确和扰动项未知对外骨骼机器人的影响;其次,基于无模型方法设计了底层关节力矩控制器,调整外骨骼机器人的关节力矩;最后,针对上述控制方案设计仿真实验与外骨骼机器人的穿戴实验。结果表明,该控制方法对气动人工肌肉外骨骼机器人的关节位置跟踪控制是有效的。The tracking trajectory control of the Pneumatic Artificial Muscle(PAM)exoskeleton robot is discussed in the study.Firstly,the higher layer of the controller was designed based on the dynamic model and combined with the adaptive law and sliding mode controller to reduce the effect on dynamic parameters inaccuracy and disturbance unknown.Then,the lower layer of the controller is designed based on the model-free method to adjust the joint torque powered by the PAM.Finally,to prove the proposed control method,the simulation experiment and the wearing experiment of the exoskeleton robot are designed,and the results prove that the proposed control method could effectively control the exoskeleton to tracking trajectory.

关 键 词：气动人工肌肉 外骨骼机器人 轨迹跟踪 滑模控制 

分 类 号：TH138[机械工程—机械制造及自动化] TP242[自动化与计算机技术—检测技术与自动化装置]