Dynamic load information calculation method for exoskeleton robot

Abstract

The invention discloses a dynamic load information calculation method for an exoskeleton robot. The dynamic load information calculation method comprises the steps that 1, a six-dimensional force/moment sensor is arranged between an elbow joint and an end effector, and the force and moment information of the load is measured; angle sensors are arranged at the joints of the upper limb exoskeleton;2, the force and torque data of the load and the angle data of each joint are collected; 3, the driving torque of each joint is calculated according to the angle data of each joint and the inertia tensor matrix, and then the driving torque and the force and moment date of the load are utilized to construct a force and moment balance equation of the position at which the six-dimensional force/moment sensor is located through a d'alembert's principle; 4, the equilibrium equation of two force with the largest change and the equilibrium equation of two moments with the largest change under no-loadcondition are selected; and 5, the four equations obtained in step 4 are solved, and the load weight m and the position information x<m>, y<m> and z<m> of the load center of gravity relative to the six-dimensional force/moment sensor are obtained. The dynamic load information calculation method can quickly and effectively calculate the dynamic load information of the exoskeleton robot.

Description

technical field [0001] The invention belongs to the research field of exoskeleton robots, and in particular relates to a dynamic load information calculation method for exoskeleton robots. Background technique [0002] In industrial applications, lifting or grabbing heavy loads by upper limb exoskeleton robots is a key research direction. Moreover, the posture change of the lifting load will also affect the overall center of gravity of the upper extremity exoskeleton, especially when the load is heavy or the posture changes significantly, this effect cannot be ignored. [0003] At present, the research on the calculation of load information has not attracted people's attention, but the change of the overall center of gravity position of the upper limb system directly affects the balance control and stability of the whole body exoskeleton. Contents of the invention [0004] In view of this, the present invention provides a method for calculating dynamic load information of...

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Problems solved by technology

[0003] At present, the research on the calculation of load information has not attracted people's attention, but the change of the overall center of gravity of the upper limb system directly affects the balance control and stability of the whole body exoskeleton

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