Exoskeleton robot controlling system and method

An exoskeleton robot and control system technology, applied in the field of control systems, can solve problems such as insufficient stability and reliability, control system logic confusion, and control system collapse, and achieve a simple and clear structure, reduced coupling, and clear layers Effect

Inactive Publication Date: 2013-07-17
BUFFALO ROBOT TECH SUZHOU +1
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Problems solved by technology

[0003] At present, the structure of the control system of the existing exoskeleton robot is not classified according to the logical structure, but more from the perspective of the module, which easily leads to the confusion of the logic of the control system and the increase of the coupling of each part, especially in the on the main controller
Since the main controller of t

Method used

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  • Exoskeleton robot controlling system and method
  • Exoskeleton robot controlling system and method
  • Exoskeleton robot controlling system and method

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Embodiment Construction

[0030] The specific implementation manners of the present invention will be further described in detail below in conjunction with the drawings and examples.

[0031] figure 1 The structure of an exoskeleton robot control system according to the present invention is shown, and the exoskeleton robot control system is applicable to motor-driven, hydraulic-driven or pneumatic-driven exoskeleton robots. The exoskeleton robot control system includes a main controller and at least one node unit, each node unit includes a node controller and sensors and actuators respectively connected to the node controller, and the node controllers are respectively connected to the main controller. The main controller is mainly used to summarize, process and calculate the information of all node units of the exoskeleton to obtain the joint control information of the exoskeleton robot, and then send joint control commands to the corresponding node controllers. The main controller and the node contro...

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Abstract

The invention relates to a controlling system, in particular to an exoskeleton robot controlling system and method. The exoskeleton robot controlling system comprises a main controller and at least one node unit, each of the node units comprises a node controller, a sensor and an actuator, and the sensors and the actuators are connected with the corresponding node controllers which are connected with the main controller. By reducing coupling between the main controller and other parts, the exoskeleton robot controlling system has the advantages that stability and reliability of the system are improved, structure is clearer and distinct in levels, and realization of machine code is facilitated.

Description

technical field [0001] The invention relates to a control system, in particular to an exoskeleton robot control system and control method. Background technique [0002] An exoskeleton robot is a human-machine integrated intelligent mechanical device that can be worn by people. It organically combines human intelligence and robot "physical strength" to expand the movement capabilities of certain parts of the human body (such as lower limbs) and enhance the human body. It has a very important impact on the military and medical fields. In the exoskeleton robot, the mechanical structure and the control system are the two most important parts. Among them, the quality of the control system directly affects the working performance of the exoskeleton robot, so the control system of the exoskeleton robot is very important. [0003] At present, the structure of the control system of the existing exoskeleton robot is not classified according to the logical structure, but more from the...

Claims

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Application Information

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IPC IPC(8): B25J9/16
Inventor 程洪郑航明林西川
Owner BUFFALO ROBOT TECH SUZHOU
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