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Torque control method of lower limb exoskeleton nonlinear elastic driver

A control method and driver technology, applied in the direction of program control of manipulators, manufacturing tools, manipulators, etc., can solve the problem of reducing the torque control accuracy of elastic drives, and achieve the effects of reducing calculation time consumption and nonlinear complexity

Active Publication Date: 2021-11-19
ZHEJIANG UNIV OF TECH
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Problems solved by technology

[0007] For the existing calculation method based on Hooke's law, because the hysteresis of the actuator torque is ignored, the torque control accuracy of the elastic actuator is reduced, and it is difficult to design a corresponding nonlinear elastic actuator torque control method based on the existing hysteresis force model to achieve accurate torque control problem, the present invention designs a set of improved Maxwell-slip hysteresis force model based on virtual displacement, and designs a kind of torque control method of nonlinear elastic actuator based on the model, and then realizes the accurate output torque of nonlinear elastic actuator control

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  • Torque control method of lower limb exoskeleton nonlinear elastic driver
  • Torque control method of lower limb exoskeleton nonlinear elastic driver
  • Torque control method of lower limb exoskeleton nonlinear elastic driver

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Embodiment Construction

[0078] The present invention is described in detail below by specific examples:

[0079] The mechanical structure of the control object "non-linear elastic driver" corresponding to the control method proposed by the present invention is described in the authorized patent "a compliant and variable stiffness driver for lower extremity exoskeleton" (Chinese invention patent, patent number: ZL201910472831.1) has been described in detail. In order to facilitate the introduction of the control method proposed by the present invention, it is briefly introduced here, see figure 1 The structure diagram of the nonlinear elastic driver is shown. A six-dimensional force sensor is installed at the end of the driver to measure the output torque. The code disc on the motor will measure the rotation angle of the motor, which is the deflection angle of the driver.

[0080] see figure 2 Shown is the initial state of the driver, point B is the fixed point at the upper end of the spring; point...

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Abstract

The invention relates to a torque control method of a lower limb exoskeleton nonlinear elastic driver. Linear processing of an output torque hysteresis force curve is realized by introducing virtual displacement, a set of improved Maxwell-slip hysteresis force model based on virtual displacement and an inverse model thereof are designed, and the torque control method is designed on the basis of the hysteresis force model, so that accurate control over the output torque of the nonlinear elastic driver is realized. The torque control method not only can be used in the lower limb exoskeleton nonlinear elastic driver, but also can be used in other nonlinear elastic drivers.

Description

technical field [0001] The invention relates to a torque control method of a nonlinear elastic driver, more specifically, a method for controlling the torque of a nonlinear elastic driver of a lower extremity exoskeleton robot with hysteresis. [0002] technical background [0003] Aiming at the rigid working characteristics of the motor, it is difficult to ensure the safety of the wearer, and the existing series elastic actuators often have the inherent contradiction between the maximum output torque and the force control accuracy. Variable stiffness driver" (Chinese invention patent, patent number: ZL201910472831.1), the driving stiffness of the driver of this invention increases with the increase of the external load. [0004] For the elastic driver, the calculation of its output torque in the prior art is generally based on Hooke's law (F=KΔx, F is the output force, K is the stiffness, and Δx is the deformation amount). Since the hysteresis of the elastic actuator is not...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1602B25J9/1633
Inventor 周利波欧林林禹鑫燚魏岩
Owner ZHEJIANG UNIV OF TECH
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