Rehabilitation manipulator based on high-order adaptive learning control

An adaptive learning and manipulator technology, applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve problems such as difficult to track from beginning to end, low control precision, slow convergence speed, etc., achieve low cost, wide application range, and small amount of calculation Effect

Active Publication Date: 2019-11-01
BEIHANG UNIV
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Problems solved by technology

However, there is a class of problems in practical applications: the controlled rehabilitation manipulator system is required to achieve high precision, no error, and complete tracking of the target trajectory from beginning to end.
For such requirements, traditional control methods often have problems such as low control accuracy, slow convergence speed, and even difficulty in tracking from beginning to end. In order to achieve this goal, multiple learning and corrections are often required, and multiple executions can achieve the best control. Effect

Method used

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  • Rehabilitation manipulator based on high-order adaptive learning control
  • Rehabilitation manipulator based on high-order adaptive learning control
  • Rehabilitation manipulator based on high-order adaptive learning control

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Embodiment Construction

[0038] In order to understand the above-mentioned purpose, features and advantages of the present invention more clearly, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that, in the case of no conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other.

[0039] In the following description, many specific details are set forth in order to fully understand the present invention. However, the present invention can also be implemented in other ways different from those described here. Therefore, the protection scope of the present invention is not limited by the specific details disclosed below. EXAMPLE LIMITATIONS.

[0040] A rehabilitation manipulator based on high-order adaptive learning control. Aiming at the characteristics of repeated operation of rehabilitation devices, a high-order adaptive learning control ...

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Abstract

The invention discloses a rehabilitation manipulator based on high-order adaptive learning control. The rehabilitation manipulator comprises a plurality of rehabilitation mechanical finger joints anda processor; and the processor comprises a first acquisition module, a second acquisition module, a third acquisition module and a control module. According to the technical scheme, the rehabilitationmanipulator can be used for completing tracking tasks on respective expected tracks after a certain number of times of learning, the control problem is solved, and the control precision is high.

Description

technical field [0001] The invention belongs to the technical field of robot control, in particular to a rehabilitation manipulator based on high-order self-adaptive learning control. Background technique [0002] At present, the rapid development of robot technology and the continuous expansion of application fields, medical robots, as one of the main branches of robots, are also showing a trend of vigorous development, and are known as one of the research hotspots in the field of international robotics. Rehabilitation manipulator is a branch of medical robot. Rehabilitation manipulators are mainly rehabilitation training robots used to assist patients in flexion and extension of fingers. The purpose is to reduce the functional atrophy of the motor nervous system in the patient's brain through training and treatment of one or more fingers for a certain period of time, and then realize the function of the patient's motor nerves. Restoration of finger motor function. Howeve...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J11/00B25J15/00B25J9/16
CPCB25J9/16B25J9/161B25J11/00B25J15/00B25J15/0009
Inventor 孟德元郭紫荣张璟尧
Owner BEIHANG UNIV
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