张琦, 田梦倩, 李伟强, 甘振波, 王兴松. 复式套索人工肌肉驱动的下肢外骨骼的运动控制[J]. 机器人, 2021, 43(2): 214-223. DOI: 10.13973/j.cnki.robot.200207
引用本文: 张琦, 田梦倩, 李伟强, 甘振波, 王兴松. 复式套索人工肌肉驱动的下肢外骨骼的运动控制[J]. 机器人, 2021, 43(2): 214-223. DOI: 10.13973/j.cnki.robot.200207
ZHANG Qi, TIAN Mengqian, LI Weiqiang, GAN Zhenbo, WANG Xingsong. Motion Control of a Lower-limb ExoskeletonActuated by Compound Tendon-sheath Artificial Muscles[J]. ROBOT, 2021, 43(2): 214-223. DOI: 10.13973/j.cnki.robot.200207
Citation: ZHANG Qi, TIAN Mengqian, LI Weiqiang, GAN Zhenbo, WANG Xingsong. Motion Control of a Lower-limb ExoskeletonActuated by Compound Tendon-sheath Artificial Muscles[J]. ROBOT, 2021, 43(2): 214-223. DOI: 10.13973/j.cnki.robot.200207

复式套索人工肌肉驱动的下肢外骨骼的运动控制

Motion Control of a Lower-limb ExoskeletonActuated by Compound Tendon-sheath Artificial Muscles

  • 摘要: 设计了复式套索人工肌肉驱动的下肢外骨骼系统,并研究了外骨骼关节精密运动控制问题.首先,介绍了复式套索人工肌肉驱动的下肢外骨骼系统.其次,建立了复式套索人工肌肉的传递模型,并基于拉格朗日法建立了下肢外骨骼动力学模型.然后,基于该动力学模型提出了一种滑模控制方法.进行了滑模控制与比例-微分(PD)控制外骨骼膝关节运动的对比实验,证明了该滑模控制算法具有更高的运动控制精度.最后,完成了下肢外骨骼的被动训练实验,其关节角度跟踪误差低于3.78°.

     

    Abstract: A lower-limb exoskeleton system actuated by compound tendon-sheath artificial muscles is designed and its precise motion control is studied. Firstly, the lower-limb exoskeleton system actuated by compound tendon-sheath artificial muscles is introduced. A transmission model of the compound tendon-sheath artificial muscle is established, and the dynamic model of the lower-limb exoskeleton is then built using the Lagrange method. On this basis, a sliding mode control method is proposed. The motion control of the knee joint of the exoskeleton by the sliding mode control is compared with the proportional-derivative (PD) control, which proves the improved control accuracy of the sliding mode control method. Finally, the passive rehabilitation training experiment is accomplished, and the tracking error of the joint angle is less than 3.78°.

     

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