Electro-hydraulic servo control system and method for exoskeleton robot based on impedance control
An exoskeleton robot, impedance control technology, applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve the problems of limiting the mobility of the exoskeleton man-machine system, incoordination between the exoskeleton robot and the wearer, and inconsistent movements. To achieve the effect of improving the consistency of human-machine motion
Active Publication Date: 2022-07-26
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 described in further detail below with reference to the accompanying drawings and 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 an exoskeleton robot based on impedance control, see Figure 1-2 , including controllers, pump motor drives, micro hydraulic systems, and sensor measurement devices. The controller is respectively connected with the pump drive motor driver and the sensor measurement device, and completes the acquisition and processing of external sensor information, control algorithm calculation and output control signals to the pump drive motor driver; the pump drive motor driver outputs the motor power drive signal The micro hydraulic system uses the direct pump control method to realize the exoskeleton hip joint hydraulic cylinder telescopic movement.
[0033] The above-mentione...
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The invention relates to an electro-hydraulic servo control system and method for an exoskeleton robot based on impedance control. The system includes a controller, a pump driving motor driver, a micro hydraulic system and a sensing and measuring device; the input end of the controller is connected with the sensing and measuring device. , realizes the control algorithm solution, its output end is connected with the pump drive motor driver, and the output control signal is sent to the pump drive motor driver; the pump drive motor driver is connected with the micro hydraulic system, and is used to drive the hydraulic pump drive motor to drive the hydraulic cylinder. action. The invention realizes the active compliance control of the electro-hydraulic drive unit, and improves the action coordination between the exoskeleton robot and the wearer.
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 of an exoskeleton robot based on impedance control. Background technique [0002] The exoskeleton robot is an intelligent human-computer interaction system, which provides support and protection for the wearer, and effectively enhances the human body's load-bearing capacity and endurance. work) has broad application prospects. [0003] The drive unit provides direct auxiliary torque support for the wearer. Hydraulic drive is widely used in heavy-duty mobile exoskeleton systems due to its advantages of high power density, strong anti-interference ability, and ability to withstand large shocks and overloads. BLEEX, HULC and XOS exoskeleton systems, as well as the individual soldier exoskeleton of the 202nd Institute of China Ordnance Industry. However, the existing hydraulic drive method based on position control ...
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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