Method and device for compensating friction force or friction torque and rehabilitation robot

A technology of friction torque and friction force, applied in the direction of instruments, general control systems, adaptive control, etc., can solve the problem of slow compensation of friction torque

Active Publication Date: 2021-01-15
SHANGHAI FOURIER INTELLIGENCE CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0010] Embodiments of the present disclosure provide a method, a device, and a rehabilitation robot for compensating frictional force or frictional torque, so as to solve the technical problem of slow compensation for frictional torque

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  • Method and device for compensating friction force or friction torque and rehabilitation robot
  • Method and device for compensating friction force or friction torque and rehabilitation robot
  • Method and device for compensating friction force or friction torque and rehabilitation robot

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Embodiment Construction

[0058] In order to understand the characteristics and technical content of the embodiments of the present disclosure in more detail, the implementation of the embodiments of the present disclosure will be described in detail below in conjunction with the accompanying drawings. The attached drawings are only for reference and description, and are not intended to limit the embodiments of the present disclosure. In the following technical description, for purposes of explanation, numerous details are set forth in order to provide a thorough understanding of the disclosed embodiments. However, one or more embodiments may be practiced without these details. In other instances, well-known structures and devices may be shown simplified in order to simplify the drawings.

[0059] The terms "first", "second" and the like in the description and claims of the embodiments of the present disclosure and the above drawings are used to distinguish similar objects, and are not necessarily used...

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Abstract

The invention relates to the technical field of robots, and discloses a method for compensating friction force or friction torque. The method for compensating the friction force or the friction torquecomprises the steps that the current output force/the current output torque of a controller in a closed-loop control system is obtained, the previous friction force/friction torque is compensated according to the current output force/the current output torque, and the current friction force/the current friction torque is obtained, the current output force/current output torque is compensated according to the current friction force/current friction torque to obtain a force control value/torque control value, and the actuating mechanism is controlled according to the force control value/torquecontrol value. By adopting the method for compensating the friction force or the friction torque, the friction force can be compensated more quickly. The invention further discloses a device for compensating the friction force or the friction torque and a rehabilitation robot.

Description

technical field [0001] The present application relates to the technical field of robotics, for example, to a method, device and rehabilitation robot for compensating friction force or friction torque. Background technique [0002] At present, patients with joint injuries, nervous system injuries, skeletal muscle injuries, etc., lead to joint skills impairment, and patients need rehabilitation training to restore or improve joint function. Rehabilitation training includes patients actively completing a series of training actions, patients completing a series of training actions with the assistance of a rehabilitation therapist, or patients completing a series of training actions with the assistance of auxiliary equipment. [0003] The Chinese utility model patent whose authorization notification number is CN206063380U provides an upper limb rehabilitation training machine, which includes a hand rest and a movable board for supporting the upper limbs, the hand rest is arranged...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/02
CPCG05B13/024
Inventor 陈鑫朱志军鞠超王晗姚远顾捷
Owner SHANGHAI FOURIER INTELLIGENCE CO LTD
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