张立勋, 伊蕾, 白大鹏. 六连杆助行康复机器人鲁棒控制[J]. 机器人, 2011, 33(5): 585-591.
引用本文: 张立勋, 伊蕾, 白大鹏. 六连杆助行康复机器人鲁棒控制[J]. 机器人, 2011, 33(5): 585-591.
ZHANG Lixun, YI Lei, BAI Dapeng. Robust Control of Six-linkage Walking Assistance Rehabilitation Robot[J]. ROBOT, 2011, 33(5): 585-591.
Citation: ZHANG Lixun, YI Lei, BAI Dapeng. Robust Control of Six-linkage Walking Assistance Rehabilitation Robot[J]. ROBOT, 2011, 33(5): 585-591.

六连杆助行康复机器人鲁棒控制

Robust Control of Six-linkage Walking Assistance Rehabilitation Robot

  • 摘要: 为帮助老年人及偏瘫患者恢复自然步态的行走,提出了一种六连杆助行康复机器人机构模型.考虑患者体重差异及助行康复训练过程中下肢肌张力的变化,在机器人动力学分析的基础上设计了一种具何抗干扰性能的鲁棒控制器.基于李亚普诺夫理论证明了该控制器可有效地抑制外界干扰信号的影响,并进行了鲁棒控制实验三研究.研究结果表明,鲁棒控制器能够抑制负载突变及不确定性干扰,保证控制系统工作的稳定性,满足患者对助行训练安全性的要求.

     

    Abstract: A mechanism model of a six-linkage walking assistant rehabilitation robot is presented to help the aged and hemiplegic patients walk with natural gait.Considering the weight difference among patients and the changes in muscular tension of lower limbs during assisted-walking training,a robust controller with anti-jamming performance is designed based on the robot dynamics analysis.It is proved by Lyapunov theory that the controller can suppress the influence from external interference signals effectively.The robust control experiment results show that the controller can suppress the influence of load variations and uncertain disturbance,

     

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