Full-freedom-degree control force optimal trajectory tracking method for rehabilitation walk training robot

A walking training and trajectory tracking technology, applied in two-dimensional position/channel control and other directions to achieve the effect of minimum energy consumption

Inactive Publication Date: 2015-07-29
SHENYANG POLYTECHNIC UNIV
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  • Abstract
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Problems solved by technology

Because the rehabilitation walking training robot studied in the present invention is a redundant robot, so far, there is no optimal control problem for the redundant rehabilitation robot considering trajectory tracking from the energy point of view

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  • Full-freedom-degree control force optimal trajectory tracking method for rehabilitation walk training robot
  • Full-freedom-degree control force optimal trajectory tracking method for rehabilitation walk training robot
  • Full-freedom-degree control force optimal trajectory tracking method for rehabilitation walk training robot

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Embodiment Construction

[0040] The present invention will be further described below in conjunction with the accompanying drawings, but the protection scope of the present invention is not limited by the embodiments.

[0041] The present invention is a full-degree-of-freedom control force optimal trajectory tracking method for a rehabilitation walking training robot, and the specific steps are as follows:

[0042] 1) Based on the characteristics of the redundant rehabilitation walking training robot, combined with the precise feedback linearization theory, the linearization model of the system is established;

[0043] 2) Based on the system control energy, design the quadratic performance index of the redundant rehabilitation walking training robot, and adopt the optimal control method to make the system achieve the minimum energy consumption and complete the optimal control of trajectory tracking;

[0044] 3) Based on the MSP430 series single-chip microcomputer, the output PWM signal is provided to ...

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Abstract

The invention discloses a full-freedom-degree control force optimal trajectory tracking method for a rehabilitation walk training robot, which is characterized in that a linearized model of a system is established be being combined with an accurate feedback linearization theory based on full-freedom-degree characteristics of the rehabilitation walk training robot; a quadratic performance index of a redundant rehabilitation walk training robot is designed by taking control energy of the system as a basis, and an optimization control method is adopted, so that energy consumption of the system is enabled to be minimum, and trajectory tracking optimal control is completed. According to the invention, outputted PWM signals are provided for a motor driving unit, thereby enabling the robot to realize tracking for reference trajectory signals. The control method disclosed by the invention can enable the rehabilitation walk training robot to be the minimum in full-freedom-degree control force energy consumption when completing trajectory tracking.

Description

Technical field: [0001] The invention belongs to the field of control of wheeled rehabilitation robots, in particular to a method for tracking optimal trajectory of a rehabilitation walking training robot with full degrees of freedom control force. Background technique: [0002] With the arrival of an aging society, the number of patients with walking dysfunction is increasing year by year due to reasons such as diseases and traffic accidents. However, the lack of medical resources and high medical expenses in our country make many patients miss the best recovery period, which leads to the gradual loss of walking function of patients and brings a heavy burden to the family and society. Therefore, it is of great significance to develop rehabilitation robots to train patients' walking function in a timely and effective manner. Since the rehabilitation walking training robot studied in the present invention is a redundant robot, so far, there has not been an optimal control pr...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
Inventor 孙平王洲洲薛伟霖周小舟常洪彬
Owner SHENYANG POLYTECHNIC UNIV
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