A Balance Control Method for Heavy Load Exoskeleton System

Abstract

The invention belongs to the technical field of automatic control, and relates to a balance controlling method used for a heavy-load exoskeleton system. According to the main ideas of the balance controlling method, under the condition that the exoskeleton system bears loads, an alternate control method of position control and zero moment point (ZMP) control is adopted, and good balance control is achieved. A driving joint of the exoskeleton system is a knee joint, a hydraulic device serves as a power source, a plurality of pressure sensors are arranged on the sole of the exoskeleton system, and meanwhile an optical-electricity encoder used for measuring the angle of the knee joint is arranged in the position of the knee joint. The balance controlling method has the beneficial effects that due to the facts that position control and improved ZMP control are combined, a comprehensive control strategy is designed, and a segmental control mode is adopted, the compliance of a human-computer system and the comfort of a wearer are improved, and meanwhile the motion stability and motion safety of the human-computer system under the heavy-load condition are improved.

Description

Technical field [0001] The invention belongs to the technical field of automatic control, and relates to a balance control method for a heavy-load exoskeleton system. Background technique [0002] The exoskeleton robot has a high degree of mechanical bionic structure. When a person wears an exoskeleton robot, it can greatly enhance the load capacity of the natural human body. Its power comes from the portable power supply, through the hydraulic system, intelligent sensing system, and stability detection system The comprehensive effect of, balance control system, etc., enables people to walk on the ground under heavy loads, even in harsh environments, which greatly reduces the body’s fatigue and improves work efficiency. my country's research in the field of exoskeleton robots is still in the preliminary stage, and basic research work needs to be improved. In particular, some key technologies urgently need to be solved and technical bottlenecks can be broken through to produce hig...

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Problems solved by technology

However, these related literatures only mentioned the stability criterion, and did not implement the stability control algorithm on the exoskeleton robot.

For the research on the balance control algorithm of human-machine system motion under heavy load, there is little public information so far

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