一种串并混联上肢康复机器人柔顺控制研究  

Research on Compliance Control of a Series-Parallel-Hybrid Upper Limb Rehabilitation Robot

作　　者：彭上 高家昌 高建设[1] PENG Shang;GAO Jia-chang;GAO Jian-she(School of Mechanical and Power Engineering,Zhengzhou University,He’nan Zhengzhou 450001,China)

机构地区：[1]郑州大学机械与动力工程学院,河南郑州450001

出　　处：《机械设计与制造》2024年第7期336-341,346,共7页Machinery Design & Manufacture

基　　金：河南省高等学校重点科研项目(19A460008);国家自然科学基金资助项目(U1304510)。

摘　　要：随着我国脑卒中患者数量不断增加,机器人技术在脑卒中患者康复训练中将被大面积运用,而康复机器人在人机耦合时为了协调和安全,对机器人的柔顺性具有要求。针对此问题,以一种串并混联的上肢康复机器人为研究对象,设计了一种控制方法。首先使用拉格朗日方法对该康复机器人进行了动力学建模,然后基于导纳原理建立了人机间力的交互关系,再在动力学的基础上设计了滑模控制来对期望轨迹进行跟踪并引入了模糊控制以减少滑模控制的抖振,最后验证了滑模控制的稳定性。通过Simulink仿真,验证了该控制方法的有效性。分析仿真结果,发现在该控制方法下,导纳参数越小,训练强度越小,控制的柔顺性越好。As the number of stroke patients in our country continues to increase,robotics technology will be widely used in rehabilitation training for stroke patients,and rehabilitation robots have requirements for the flexibility of robots for coordination and safety when man-machine coupling.Aiming at this problem,a control method was designed with a series-parallel hybrid upperlimb rehabilitation robot as the research object.First,the Lagrangian method is used to model the dynamics of the rehabilitation robot,and then the interaction relationship between human and machine forces is established based on the admittance principle,and then the sliding mode control is designed on the basis of the dynamics to perform the desired trajectory Fuzzy control is tracked and introduced to reduce chattering of sliding mode control.Finally,the stability of sliding mode control is verified.Finally,through Simulink simulation,the effectiveness of the control method is verified.Analyzing the simulation results,it is found that under this control method,the smaller the admittance parameter,the smaller the training intensity and the better the flexibility of the control.

关 键 词：上肢康复机器人 拉格朗日方程 柔顺性 导纳控制 SIMULINK仿真 

分 类 号：TH16[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]