基于迭代学习控制的下肢外骨骼康复训练机器人运动策略  

Motion Strategy of Lower Limb Exoskeleton Rehabilitation Training Robot Based on Iterative Learning Control

作　　者：曾永阳 罗春阳[1] 王延振 李海连[1] 陆玥 王晓昌 王小平 田阳 ZENG Yongyang;LUO Chunyang;WANG Yanzhen;LI Hailian;LU Yue;WANG Xiaochang;WANG Xiaoping;TIAN Yang(College of Mechanical Engineering,Beihua University,Jilin 132021,China)

机构地区：[1]北华大学机械工程学院,吉林吉林132021

出　　处：《北华大学学报（自然科学版）》2023年第3期414-420,共7页Journal of Beihua University（Natural Science）

基　　金：吉林省科学技术发展计划项目(20200708126YY,20230401103YY);国家级大学生创新创业训练计划项目(202110201050X).

摘　　要：将具有不依赖系统模型精度,并且能够通过不断学习实现高精度控制等优点的迭代学习策略应用于下肢康复训练机器人运动控制.通过分析人体下肢结构与运动特征,得到下肢外骨骼系统各关节的空间位置参数;采用拉格朗日法对下肢外骨骼康复训练系统进行动力学分析,设计迭代学习控制器.仿真结果表明:迭代学习控制策略能够实现高精度跟踪期望轨迹的目标.The iterative learning strategy,which does not depend on the accuracy of the system model and can achieve high-precision control through continuous learning,is applied to the motion control of the lower limb rehabilitation training robot.By analyzing the structure and motion characteristics of human lower limbs,the spatial position parameters of each joint of lower limb exoskeleton system are obtained.The Lagrange method is used to analyze the dynamics of the lower extremity exoskeleton rehabilitation training system,and the iterative learning controller is designed.The simulation results show that the iterative learning control strategy can achieve the goal of tracking the desired trajectory with high precision.

关 键 词：迭代学习控制 康复训练 下肢外骨骼 轨迹跟踪 

分 类 号：TH69[机械工程—机械制造及自动化]