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

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...

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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