骨骼服虚拟力控制方法研究

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杨智勇, 归丽华, 杨秀霞, 顾文锦. 骨骼服虚拟力控制方法研究[J]. 机器人, 2009, 31(4): 365-369,377.. YANG Zhi-yong, GUI Li-hua, YANG Xiu-xia, GU Wen-jin. On Virtual Force Control of Exoskeleton Suit. ROBOT, 2009, 31(4): 365-369,377..

摘要针对骨骼服运动中控制指令信息难以获取这一问题，提出了一种利用安装在操作者和骨骼服之间的多维力/力矩传感器来估计骨骼服参考轨迹的方法．为了控制骨骼服跟随操作者的运动，并保持人机之间的作用力最小，以达到辅助承重的目的，提出了一种虚拟力控制策略．该方法首先利用力/力矩传感器的测量信息构建骨骼服在关节空间的关节控制力矩，然后产生控制骨骼服在操作空间运动的虚拟力，从而控制骨骼服在操作空间的轨迹跟随操作者的运动．证明了其稳定性，并给出了仿真结果．仿真结果表明，所设计的控制器能实现骨骼服对人体运动的跟踪，并有效降低人机之间的作用力．

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	杨智勇
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关键词 ：骨骼服, 虚拟力控制, 人机系统

Abstract：When the exoskeleton suit moves,it is hard to get the control instructions.In order to solve this problem,a reference trajectory estimation method for the exoskeleton suit is proposed which can be realized by installing some multiaxis force/torque sensors between the pilot and the exoskeleton suit.A virtual force control method is proposed to control the exoskeleton suit to follow the pilot's locomotion and to minimize the human-machine interaction force,which means the exoskeleton suit assisting the pilot to take heavy load.This method first generates the joint control torque of exoskeleton suit in joint space by the measurement information of the force/torque sensors,and then generates the virtual control force in task space to enable the exoskeleton suit to follow the pilot's motion.Stability of the presented method is proved and simulation result is given.The simulation result shows the designed controller can control the exoskeleton suit tracking the pilot's motion as well as decreasing the human-machine interaction force effectively.

Key words： exoskeleton suit virtual force control human-machine system

收稿日期: 2008-07-14

TP242

基金资助:国家自然科学基金资助项目（60705030）；中国博士后科学基金资助项目（20060400293）

作者简介: 杨智勇（1977- ），男，博士生，助教．研究领域:智能控制，机器人控制．
归丽华（1975- ），女，博士生，工程师．研究领域:机器人控制．
杨秀霞（1975- ），女，博士，讲师．研究领域:智能控制，飞行器控制，机器人控制．

链接本文:

https://robot.sia.cn/CN/ 或 https://robot.sia.cn/CN/Y2009/V31/I4/365

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