Control method for tracking motion speed and motion track of rehabilitation training robot at the same time

Abstract

The invention belongs to the field of control of wheel type rehabilitation robots, and particularly relates to a control method for tracking the motion speed and motion track of a rehabilitation training robot at the same time, and the control method can effectively improve safety and rehabilitation effects of a trainee. According to control method provided by the invention, based on a kinematics model and a dynamics model of a rehabilitation walking training robot, a redundant freedom degree characteristic, and a nonlinear input-output linearization theory, an equation of a decoupling state between rotating speed and driving force of each driving wheel is established; a driving force controller is designed, and based on the decoupling state equation, asymptotic tracking of the motion speed of the rehabilitation walking training robot is realized; and further, based on the driving force controller together with a nonlinear feedback control law, and based on a rehabilitation walking training robot dynamics model, asymptotic tracking of the motion track is realized.

Description

technical field [0001] The invention belongs to the control field of wheeled rehabilitation robots, and in particular relates to a control method for simultaneous tracking of a rehabilitation training robot's motion speed and motion trajectory. 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. [0003] The rehabilitation walking training robot needs to track the training trajectory specified by the doctor to train the patient. There are many resea...

AI Technical Summary

Problems solved by technology

[0003] The rehabilitation walking training robot needs to track the training trajectory specified by the doctor to train the patient. There have been many research results on the trajectory tracking control method of the rehabilitation robot. However, these results ignore the speed tracking when considering the trajectory tracking.

The robot runs in an unknown environment. If the movement speed is too fast and exceeds the patient's tolerance, the patient will be injured again and threaten its safety; if the movement speed is too slow, the patient will not be able to reach the exercise intensity and affect the rehabilitation effect. Therefore, explore the movement of rehabilitation robots The control method of simultaneous tracking of speed and motion trajectory is particularly important

The rehabilitation walking training robot studied in the present invention is a redundant robot. So far, there is no control method that combines the kinematics model and the dynamics model to make the redundant rehabilitation robot's motion speed and trajectory track simultaneously

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