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Optimal trajectory tracking method of full-degree-of-freedom control force for rehabilitation walking training robot

A walking training and trajectory tracking technology, applied in two-dimensional position/channel control and other directions to achieve the optimal effect of full-degree-of-freedom control force

Inactive Publication Date: 2017-08-08
SHENYANG POLYTECHNIC UNIV
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  • Description
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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

Method used

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  • Optimal trajectory tracking method of full-degree-of-freedom control force for rehabilitation walking training robot
  • Optimal trajectory tracking method of full-degree-of-freedom control force for rehabilitation walking training robot
  • Optimal trajectory tracking method of full-degree-of-freedom control force for rehabilitation walking training robot

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Embodiment Construction

[0045] 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.

[0046] 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:

[0047] 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;

[0048] 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;

[0049] 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 tracking method for the optimal trajectory of the full-degree-of-freedom control force of a rehabilitation walking training robot. Based on the full-degree-of-freedom characteristics of the rehabilitation walking training robot, combined with the precise feedback linearization theory, a linearization model of the system is established; Based on energy, the secondary performance index of redundant rehabilitation walking training robot is designed, and the optimal control method is adopted to minimize the energy consumption of the system and complete the optimal control of trajectory tracking; the present invention provides the output PWM signal to the motor drive unit, so that the robot Realize the tracking of the reference trajectory signal. The control method can minimize the energy consumption of the full-degree-of-freedom control force when the rehabilitation walking training robot completes trajectory tracking.

Description

[0001] Technical field: [0002] 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. [0003] Background technique: [0004] 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 opt...

Claims

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Application Information

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Patent Type & Authority Patents(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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