下肢康复训练机器人轨迹跟踪控制算法研究  

Research on Trajectory Tracking Control Algorithm for Lower Limb Rehabilitation Training Robot

作　　者：王鑫磊 马艺航 杨亚龙 林思安 王继荣[1,2] WANG Xinlei;MA Yihang;YANG Yalong;LIN Sian;Wang Jirong(College of Mechanical and Electrical Engineering,Qingdao University,Qingdao 266071,China;Weihai Innovation Research Institute,Qingdao University,Weihai 264200,China)

机构地区：[1]青岛大学机电工程学院,山东青岛266071 [2]青岛大学威海创新研究院,山东威海264200

出　　处：《青岛大学学报（工程技术版）》2024年第2期83-90,共8页Journal of Qingdao University(Engineering & Technology Edition)

基　　金：科技部国家重点研发计划项目(2019YFC0120000)。

摘　　要：为实现运动过程中下肢康复训练机器人机械腿关节角度的精准控制,提出一种轨迹跟踪控制算法。通过建立动力学模型并考虑关节摩擦力的影响,设计了一种自适应模糊神经网络控制算法,自适应地补偿关节摩擦力,实现康复机器人精确的轨迹追踪控制。利用Lyapunov理论证明了控制算法的稳定性,通过Matlab对有效性进行仿真验证,结果表明此算法可对关节摩擦力进行较好得补偿,轨迹跟踪误差在预期范围内。A trajectory tracking control algorithm was proposed to achieve precise control of the joint angle of the lower limb rehabilitation training robot′s mechanical leg during the movement process.By establishing a dynamic model and considering the influence of joint friction,an adaptive fuzzy neural network control algorithm is designed to adaptively compensate for joint friction and achieve precise trajectory tracking control of rehabilitation robots.The stability of the control algorithm is proven using Lyapunov theory,and its effectiveness is verified through simulation in Matlab.The results show that this algorithm can effectively compensate for joint friction,and the trajectory tracking error is within the expected range.

关 键 词：下肢康复机器人 模糊控制 轨迹追踪 摩擦力补偿 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]