Exoskeleton robot controlling system and method

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...

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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 the exoskeleton robot basically has a strong coupling with all modules, the workload is relatively large, and it is generally used to control the actuator directly. Once a problem occurs in a module in the system, it will directly affect the main controller. running, which leads to the collapse of the entire control system, so the stability and reliability are not good enough

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