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A Control Method for Simultaneous Tracking of Movement Velocity and Movement Trajectory of Rehabilitation Training Robot

A technology for robot movement and rehabilitation training, applied in non-electric variable control, two-dimensional position/channel control, vehicle position/route/height control, etc., can solve problems such as threatening safety, ignoring speed tracking, and affecting rehabilitation effects

Inactive Publication Date: 2017-11-07
SHENYANG POLYTECHNIC UNIV
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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

Method used

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  • A Control Method for Simultaneous Tracking of Movement Velocity and Movement Trajectory of Rehabilitation Training Robot
  • A Control Method for Simultaneous Tracking of Movement Velocity and Movement Trajectory of Rehabilitation Training Robot
  • A Control Method for Simultaneous Tracking of Movement Velocity and Movement Trajectory of Rehabilitation Training Robot

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Embodiment Construction

[0072] As shown in the figure, the present invention comprises the following steps:

[0073] Step 1) Based on the characteristics of the redundant rehabilitation walking training robot, combined with the kinematics and dynamics models, the nonlinear input-output linearization theory is applied to establish the decoupled state equation between the speed of each driving wheel and the driving force, and the motion of the system Learning model is

[0074]

[0075] in

[0076]

[0077] V represents the movement speed of the four driving wheels of the robot, X represents the actual walking track of the robot, K c Represents the coefficient matrix, θ represents the angle between the horizontal axis and the center of the robot and the center of the first wheel, L represents the distance from the center of the robot to each wheel, x(t) is the actual walking track of the robot in the direction of the horizontal axis, y( t) is the actual walking trajectory of the robot in the dir...

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Abstract

The invention relates to a control method for simultaneous tracking of movement speed and movement trajectory of a rehabilitation training robot, which belongs to the control field of wheeled rehabilitation robots, and in particular relates to a control method for simultaneous tracking of movement speed and movement trajectory of a rehabilitation training robot. The present invention aims at the above problems and provides a control method for simultaneously tracking the movement speed and trajectory of a rehabilitation training robot that can effectively improve the safety and rehabilitation effect of trainers. The present invention is based on the kinematics model and dynamics model of rehabilitation walking training robot, redundant degree of freedom feature, nonlinear input-output linearization theory, establishes the decoupling state equation between each drive wheel rotational speed and driving force; Design driving force The controller, based on the decoupling state equation, enables the motion speed of the rehabilitation walking training robot to achieve asymptotic tracking; further, the driving force controller combines the nonlinear feedback control law, based on the dynamic model of the rehabilitation walking training robot, to realize the asymptotic motion trajectory track.

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...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02A61H1/00
CPCA61H1/00A61H2201/1207G05D1/0272G05D2201/0212
Inventor 孙平刘博孙桐李树江薛伟霖常洪彬
Owner SHENYANG POLYTECHNIC UNIV
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