Impedance control based exoskeleton robot electro-hydraulic servo control system and method
An exoskeleton robot, impedance control technology, applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve the problems of incoordination between the exoskeleton robot and the wearer, personal injury of the wearer, and mutual interference between human and machine movements.
Active Publication Date: 2020-02-18
TIANJIN NAVIGATION INSTR RES INST
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Problems solved by technology
However, the existing hydraulic drive method based on position control makes the movements between the exoskeleton robot and the wearer uncoordinated. Engineering application of hydraulically driven exoskeleton robot
[0004] Aiming at the mutual interference and incoordination of human-machine movement, some scholars try to add flexible straps between the exoskeleton and the wearer and assemble a series elastic device (SEA) on the hydraulic piston rod, but these two solutions cannot fundamentally solve the problem of hydraulic pressure. The problem of inconsistency between the joints of the driving exoskeleton and the joints of the human body
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[0031] The present invention will be further described in detail below in conjunction with the accompanying drawings and through specific embodiments. The following embodiments are only descriptive, not restrictive, and cannot limit the protection scope of the present invention.
[0032] An electro-hydraulic servo system for exoskeleton robots based on impedance control, see Figure 1-2 , including controllers, pump motor drivers, micro-hydraulic systems, and sensing and measuring devices. The controller is respectively connected with the pump drive motor driver and the sensing and measuring device to complete external sensor information collection and processing, control algorithm solution and output control signal to the pump drive motor driver; the pump drive motor driver outputs the motor power drive signal The pump drives the motor on the micro-hydraulic system to realize the start-stop and speed-regulation control of the hydraulic pump; the micro-hydraulic system adopts ...
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The invention relates to an impedance control based exoskeleton robot electro-hydraulic servo control system and method. The system comprises a controller, a pump drive motor driver, a micro hydraulicsystem and a sensing and measuring device, the input end of the controller is connected with the sensing and measuring device, so that control algorithm calculation is realized, the output end of thecontroller is connected with the pump drive motor driver to output a control signal to the pump drive motor driver, the pump drive motor driver is connected with the micro hydraulic system to be usedfor driving a hydraulic pump drive motor to move to drive a hydraulic cylinder to act. According to the impedance control based exoskeleton robot electro-hydraulic servo control system and method, active compliance control of an electro-hydraulic drive unit is realized, and the action coordination between an exoskeleton robot and a wearer is improved.
Description
technical field [0001] The invention belongs to the technical field of robot control, and relates to an electro-hydraulic servo control system and a control method for an exoskeleton robot based on impedance control. Background technique [0002] The exoskeleton robot is an intelligent human-computer interaction system. It provides support and protection for the wearer, effectively enhances the human body's weight-bearing capacity and endurance, and is used in individual mobile operations, emergency rescue, rehabilitation medicine, and civil applications (including construction operations, assembly, etc.) work) has broad application prospects. [0003] The drive unit provides direct auxiliary torque support for the wearer. The hydraulic drive is widely used in heavy-duty mobile exoskeleton systems due to its high power density, strong anti-interference ability, and ability to withstand large impacts and overloads. BLEEX, HULC and XOS exoskeleton systems, as well as the indi...
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IPC IPC(8): B25J9/16B25J9/00
CPCB25J9/1615B25J9/0006
Inventor 韩瑞雪李彬高志宇黄辉王喆于开宇
Owner TIANJIN NAVIGATION INSTR RES INST