A finite time synchronization motion control method and system for a pneumatic muscle robot

Abstract

The application discloses a finite time synchronous motion control method and system of a pneumatic muscle robot, and relates to the technical field of robot control. The method comprises the following steps: acquiring state parameters of a pneumatic muscle driven parallel robot, and establishing a kinematics model and a dynamics model; acquiring a reference trajectory of an end effector of the pneumatic muscle driven parallel robot to be tracked, and obtaining a tracking error of the end effector; defining a contour error, obtaining a synchronous error in the direction of a coordinate axis according to the tracking error of the end effector and the contour error, and then obtaining an equivalent target of synchronous motion control; defining a coupling error based on the tracking error of the end effector and the synchronous error in the direction of the coordinate axis, and constructing a finite time adaptive synchronous motion controller in combination with the tracking error and the coupling error. The application directly takes the end effector as a control object, takes trajectory tracking in a Cartesian space as a target, and realizes high-precision and high-efficiency motion control of the pneumatic muscle robot.

Description

Technical Field

[0001] This invention relates to the field of robot control technology, and in particular to a finite-time synchronous motion control method and system for a pneumatic muscle robot. Background Technology

[0002] The statements in this section are merely background information related to the present invention and do not necessarily constitute prior art.

[0003] To provide more convenient and practical services for production and daily life, intelligent robots with high stability and flexibility are becoming increasingly popular. However, traditional rigid serial robots suffer from poor structural stability and flexibility, as well as cumulative errors, making it difficult to achieve high-performance movements within confined workspaces. Therefore, pneumatic muscle-driven parallel robots have attracted widespread attention from researchers. These robots combine the characteristics of pneumatic muscles—biological skeletal muscle actuators—with the parallel structure of multiple kinematic chains, exhibiting high load-bearing capacity, high structural stability, small workspace, and good compliance. They can assist applications requiring both rigidity and flexibility, such as medical collaboration, rehabilitation therapy, and environmental exploration.

[0004] Since the fixed base and end effector of a pneumatic muscle-driven parallel robot are connected by at least two kinematic chains, the efficient motion of the end effector requires the coordinated operation of all kinematic chains. This means that the high-performance control of a parallel robot depends not only on the control performance of each individual kinematic chain but also on the synchronization performance between all kinematic chains. However, most existing methods only consider the tracking performance of the kinematic chains, neglecting the impact of the synchronization of the parallel structure, which can easily lead to a decrease in control accuracy. In addition, most existing synchronous motion control methods are designed and analyzed based on joint space and require model information or linearization operations, making it impossible to directly adjust the motion of the end effector, resulting in low efficiency and limited practical application. Synchronous motion control methods based on Cartesian space will encounter controller singularity problems at positions where the reference trajectory is parallel to the coordinate axes, which will seriously threaten the normal use of the drive components and is detrimental to the safe operation of the robot system.

[0005] Therefore, how to design a reasonable synchronous motion control method to improve the motion performance of pneumatic muscle-driven parallel robots and ensure that the end effector can quickly and accurately track the reference trajectory is an urgent problem to be solved. Summary of the Invention

[0006] To address the shortcomings of existing technologies, the present invention aims to provide a finite-time synchronous motion control method and system for pneumatic muscle robots. This method directly uses the end effector as the controlled object and aims to achieve trajectory tracking in Cartesian space, thereby realizing high-precision and high-efficiency motion control of pneumatic muscle robots.

[0007] To achieve the above objectives, the present invention is implemented through the following technical solution: The first aspect of this invention provides a finite-time synchronous motion control method for a pneumatic muscle robot, comprising the following steps: Obtain the state parameters of the pneumatic muscle-driven parallel robot, and establish kinematic and dynamic models based on the state parameters; Obtain the reference trajectory of the end effector that the pneumatic muscle-driven parallel robot needs to track, and obtain the tracking error of the end effector based on the comparison between the reference trajectory and the actual running trajectory. Define the contour error, obtain the synchronization error in the coordinate axis direction based on the tracking error of the end effector and the contour error, and then obtain the equivalent target of synchronous motion control; The coupling error is defined based on the tracking error of the end effector and the synchronization error in the coordinate axis direction. The finite-time adaptive synchronous motion controller is constructed by combining the tracking error and the coupling error.

[0008] Furthermore, by combining geometric analysis and the three-element model of pneumatic muscles, a kinematic model and a dynamic model with air pressure as input are established.

[0009] Furthermore, the contour error is defined as: , in, For contour error, For actual location Location coordinates, Indicates the distance from the actual position on the reference trajectory. nearest point Position coordinates; In controller design, the profile error is estimated, i.e. , in, For contour error estimation, Indicates reference position Distance from actual position on the tangent line nearest point The location coordinates.

[0010] Furthermore, motion control of pneumatic muscle-driven parallel robots requires tracking error and contour error estimates to converge to the origin.

[0011] Furthermore, the synchronization error is designed as follows regarding the tracking error in the coordinate axis directions: , in, For synchronization error, To track errors, The reference trajectory is at point The unit normal vector at that location.

[0012] Furthermore, the coupling error is defined as follows: , in, For coupling error, For coupling gain, It is a positive constant. It is an identity matrix.

[0013] Furthermore, the finite-time adaptive synchronous motion controller is as follows: , in, For finite-time adaptive synchronous motion controller, For Jacobian matrices, The angle of upper arm rotation. This is the reference trajectory of the end effector in Cartesian space. For the tracking error of the end effector, For filter signals, For coupling gain, For the nominal value matrix, and To design a positive definite diagonal matrix, To meet The constant, and It is a positive odd number. It is a positive constant. , , A positive constant. and Weights in a fuzzy logic system and approximation error bound The estimate, and These are the basis function vector and the input vector in the fuzzy logic system, respectively.

[0014] A second aspect of the present invention provides a finite-time synchronous motion control system for a pneumatic muscle robot, comprising: The model building module is configured to acquire the state parameters of the pneumatic muscle-driven parallel robot and build kinematic and dynamic models based on the state parameters. The tracking error calculation module is configured to obtain the reference trajectory of the end effector that the pneumatic muscle-driven parallel robot needs to track, and to obtain the tracking error of the end effector based on the comparison between the reference trajectory and the actual running trajectory. The synchronization error calculation module is configured to define the contour error, obtain the synchronization error in the coordinate axis direction based on the tracking error and contour error of the end effector, and then obtain the equivalent target of synchronous motion control. The controller design module is configured to define coupling error based on the tracking error of the end effector and the synchronization error in the coordinate axis direction, and to construct a finite-time adaptive synchronous motion controller by combining the tracking error and the coupling error.

[0015] A third aspect of the present invention provides a medium having a program stored thereon, which, when executed by a processor, implements the steps of the finite-time synchronous motion control method for a pneumatic muscle robot as described in the first aspect of the present invention.

[0016] A fourth aspect of the present invention provides an apparatus including a memory, a processor, and a program stored in the memory and executable on the processor, wherein the processor executes the program to implement the steps of the finite-time synchronous motion control method for a pneumatic muscle robot as described in the first aspect of the present invention.

[0017] The above one or more technical solutions have the following beneficial effects: This invention discloses a finite-time synchronous motion control method and system for a pneumatic muscle robot. Compared with the prior art, this invention fully considers the end effector as the unit in the robot system that directly interacts with the object and completes the task. Then, the motion analysis and controller design of the end effector are performed in Cartesian space, which makes it easier to obtain the motion effect of the end effector more intuitively and apply appropriate control quantities, thereby improving the control accuracy.

[0018] This invention takes into account the uncertainties such as the complexity of the actual system model structure, the existence of modeling errors, and the difficulty in obtaining system parameters. It proposes a synchronous motion controller that does not require model information. Furthermore, by improving the coupling error, the system input signal will not exhibit singularity issues that affect the use of driving components, thereby improving operational safety.

[0019] This invention considers the synchronization problem of multiple kinematic chains in a pneumatic muscle-driven parallel robot and uses tracking errors in the coordinate axis direction for synchronization compensation. This ensures that the error is bounded within the adjustable time and that the error eventually converges asymptotically, giving it the dual advantages of fast convergence speed and high tracking accuracy.

[0020] Advantages of additional aspects of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0021] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0022] Figure 1 This is a schematic diagram of the pneumatic muscle-driven parallel robot structure in Embodiment 1 of the present invention; Figure 2 This is a schematic diagram of tracking error and contour error in Embodiment 1 of the present invention; Figure 3 For the end effector in Embodiment 1 of the present invention shaft and Simulation results of tracking in the axial direction, upper arm angle, and pneumatic muscle input air pressure; Figure 4 For the end effector in Embodiment 1 of the present invention shaft and Simulation results of tracking error and synchronization error in the axial direction; Figure 5 The results show the tracking simulation of the end effector under the finite-time synchronous motion control method for the pneumatic muscle robot in Embodiment 1 of the present invention. Detailed Implementation

[0023] It should be noted that the following detailed descriptions are exemplary and intended to provide further illustration of the invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0024] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof. Example 1: This invention provides a finite-time synchronous motion control method for a pneumatic muscle robot. Specifically, the pneumatic muscle robot is a pneumatic muscle-driven parallel robot. This method directly uses the end effector as the controlled object and aims to achieve trajectory tracking in Cartesian space. Specifically, this embodiment utilizes the contour error of the end effector to obtain the equivalent objective of synchronous motion control, and avoids singularity problems of the controller at certain positions by reasonably limiting the parameter value range, ensuring that the actual driving components are not damaged. This embodiment further improves work efficiency and control accuracy by introducing a fractional power-type error term and an integrally bounded decreasing function to achieve finite-time convergence and asymptotic convergence of tracking error and synchronization error.

[0025] Specifically, the following steps are included: Step 1: Obtain the state parameters of the pneumatic muscle-driven parallel robot, and establish a kinematic model and a dynamic model based on the state parameters.

[0026] like Figure 1 As shown in the left figure, a pneumatic muscle-driven parallel robot can be viewed as a closed-loop mechanical structure formed by two identical serial robots acting on the same end effector. Only the upper arms of the two serial robots are each driven by a pneumatic muscle, with the lower arms moving accordingly. In this work, the jointly acting end effector is simplified to a point... Simplified structure, such as Figure 1 As shown in the right figure. A coordinate system is established on the fixed base. ,point The relationship between the position coordinates and the rotation angles of the two upper arms is as follows:

[0027] in Representing coordinate systems Lower point The horizontal and vertical coordinates, The rotation angle of the two upper arms. The rotation angle of the two lower arms. Let be the lengths of the upper arm and lower arm, respectively. Calculate the points... The time derivative of the position coordinates can be obtained as follows: (1), in It is the upper arm angle vector, point The position coordinates can be written in vector form, that is... , It is a Jacobian matrix.

[0028] Based on the Lagrange modeling method, the following pneumatic muscle-driven parallel robot with torque can be obtained. The dynamic model input to the system: (2), in The inertia matrix, For the centripetal-Coriolis force matrix, Let gravitational force be the vector. Unlike traditional actuators, pneumatic muscles work by deforming due to changes in internal air pressure, which in turn drives the upper arm to rotate. Therefore, combining geometric analysis and a three-element model of the pneumatic muscle—that is, considering the pneumatic muscle as a model composed of a contractile force unit, a damping unit, and a spring unit connected in parallel—the following relationship between torque and air pressure is established: (3), in, The input air pressure for pneumatic muscles. , ,and

[0029] in It is standard atmospheric pressure. , and ( , (2) and (3) represent the contraction element coefficient, damping element coefficient, and spring element coefficient in the three-element model of the pneumatic muscle. Therefore, by combining (2) and (3), a dynamic model of the pneumatic muscle-driven parallel robot with air pressure as input can be obtained.

[0030] Step 2: Obtain the reference trajectory of the end effector that the pneumatic muscle-driven parallel robot needs to track, and obtain the tracking error of the end effector based on the comparison between the reference trajectory and the actual running trajectory.

[0031] Pneumatic muscle-driven parallel robots need to track the reference trajectory of the end effector. The corresponding tracking error can be defined as: (4).

[0032] Step 3: Define the contour error. Based on the tracking error and contour error of the end effector, obtain the synchronization error in the coordinate axis direction, and then obtain the equivalent target of synchronous motion control.

[0033] In this embodiment, as Figure 2 As shown, in order to better describe the actual location point The distance relationship between the actual location point and the reference trajectory. The shortest distance to the reference trajectory is defined as the contour error. (5), in, For contour error, For actual location Location coordinates, Indicates the distance from the actual position on the reference trajectory. nearest point The location coordinates.

[0034] Since it is difficult to directly calculate the distance from a point to a set of points, i.e., the profile error is difficult to calculate accurately and directly, the profile error is estimated in the controller design, i.e.: (6), in, For contour error estimation, Indicates reference position Distance from actual position on the tangent line nearest point The location coordinates.

[0035] Based on geometric relationships, the length of the contour error estimate is the tracking error at the reference position. The projection of the normal vector, therefore The specific mathematical representation is as follows: (7), in, The reference trajectory is at point The unit normal vector at that location. Therefore, high-performance motion control of pneumatic muscle-driven parallel robots requires tracking errors. and contour error estimation The convergence to the origin, and the convergence of the tracking error and contour error estimates to the origin, indicates that the actual position point can move accurately along the reference trajectory. (8), This ensures the synchronization of the kinematic chain and achieves accurate trajectory tracking. To facilitate the design of a controller that can achieve this motion effect, contour error estimation is incorporated. The mathematical representation (7) is used to transform the control objective, resulting in the following equivalent objective: (9).

[0036] The following synchronization error is designed regarding the tracking error along the coordinate axes: (10), in, For synchronization error, To track errors, The reference trajectory is at point The unit normal vector at that location. Therefore, when and When established, the control objectives can be achieved.

[0037] Step 4: Define the coupling error based on the tracking error of the end effector and the synchronization error in the coordinate axis direction, and construct a finite-time adaptive synchronous motion controller by combining the tracking error and the coupling error.

[0038] In this embodiment, the following coupling error is defined: (11), in, For coupling error, For coupling gain, It is a positive constant. It is an identity matrix.

[0039] Based on this, and with the help of linear filtering order reduction design, the following filter signal is defined: (12), in, It is a positive constant. Then, using the kinematic relationship (1) and the system dynamics model (2)-(3), the filter signal can be calculated. Open-loop dynamic equations: (13), in, It is a matrix The nominal value, , .

[0040] Next, a suitable controller will be designed based on Lyapunov stability theory, and stability analysis will be conducted. The specific steps are as follows: Select the first Lyapunov candidate function And by calculating its derivative with respect to time, we get: (14).

[0041] For unknown terms Using fuzzy logic systems Approximation processing is performed on it, that is... , It is the input vector of the fuzzy logic system. It is to satisfy The bounded approximation error, Furthermore, it is possible to... Sorted as: (15), in, , , Then, the approximation error term in (15) is... Perform the following scaling: (16), Among them, the function satisfy and Therefore, it can be concluded that... (17), in, , .

[0042] Selecting the second Lyapunov candidate function ,here and It is a positive constant. and It is an estimation error. and They are and The estimate can then be used to calculate The time derivative is .

[0043] Next, we define new Lyapunov candidate functions. Its time derivative satisfies (18), in , .

[0044] Final design of finite-time adaptive controller for: (19), in, For finite-time adaptive synchronous motion controller, For Jacobian matrices, The angle of upper arm rotation. This is the reference trajectory of the end effector in Cartesian space. For the tracking error of the end effector, For filter signals, For coupling gain, For the nominal value matrix, and To design a positive definite diagonal matrix, To meet constant, and It is a positive odd number. It is a positive constant. , , A positive constant. and Weights in a fuzzy logic system and approximation error bound The estimate, and These are the basis function vector and the input vector in the fuzzy logic system, respectively.

[0045] The corresponding adaptive law and for: (20), in, and It is a positive constant. Substituting (19) and (20) into (18), we get: (twenty one).

[0046] For the items in (21) and Applying Young's inequality, we can obtain: (twenty two), in, , Furthermore, it can be organized into... (twenty three).

[0047] According to the lemma: for nonlinear systems If there exists a positive constant , , and and continuously differentiable functions Make ,in Then for any , Established, among which This represents the dwell time related to the parameters and initial values. On one hand, it can be obtained from (23): (twenty four), in, , Based on the above lemma, it can be seen that the function It is possible to reach compactness within a limited time. Internal variables , and It can converge to the vicinity of the origin in a finite amount of time, thus reducing the error. , and It can converge to the adjustable neighborhood of the origin in a finite amount of time. Simultaneously, the following conclusion holds: (25).

[0048] On the other hand, we can also get from (23): (26).

[0049] Furthermore, as well as According to Barbalat's lemma, it can be deduced that: (27).

[0050] This leads to the error. , and It can asymptotically converge to the origin. Therefore, the proposed method can ensure the motion synchronization of the kinematic chain, achieving faster and more accurate trajectory tracking.

[0051] To verify the effectiveness of the proposed method, numerical simulations were performed using a pneumatic muscle-driven parallel robot system, where the upper arm length was... The length of the lower arm is Furthermore, the control objective is to ensure that the end effector can quickly and accurately track a circle centered in Cartesian space. , radius is , frequency is The circular trajectory. The design parameters of the synchronous motion control method proposed in this invention are: , , , , , , , , , , .

[0052] Figure 3 , 4 Figures 5 and 6 represent simulation results under the synchronous motion control method proposed in this invention. The dashed line in the figure represents the reference trajectory, the solid line represents the trajectory under the proposed method, the triangular point represents the initial position, and the pentagonal point represents the final position. Figure 3 As shown in the first two sub-graphs, the end effector is in shaft and It can quickly and accurately track the corresponding reference trajectory in the axial direction, and the movement process is smooth, without jitter or overshoot; the 3rd and 4th sub-figures show the angles of the left and right upper arms, respectively, and the corresponding pneumatic muscle input air pressure is displayed in the 5th and 6th sub-figures. From Figure 4 As can be seen, the end effector is in shaft and The tracking error and synchronization error in the axial direction can converge quickly to near zero, thus demonstrating that the method proposed in this invention can improve motion synchronization and thereby ensure the requirements of both convergence speed and tracking accuracy. This conclusion can also be achieved through... Figure 5 The actual motion trajectory of the end effector was verified, thus the method proposed in this invention can achieve satisfactory tracking results.

[0053] Example 2: Embodiment 2 of the present invention provides a finite-time synchronous motion control system for a pneumatic muscle robot, comprising: The model building module is configured to acquire the state parameters of the pneumatic muscle-driven parallel robot and build kinematic and dynamic models based on the state parameters. The tracking error calculation module is configured to obtain the reference trajectory of the end effector that the pneumatic muscle-driven parallel robot needs to track, and to obtain the tracking error of the end effector based on the comparison between the reference trajectory and the actual running trajectory. The synchronization error calculation module is configured to define the contour error, obtain the synchronization error in the coordinate axis direction based on the tracking error and contour error of the end effector, and then obtain the equivalent target of synchronous motion control. The controller design module is configured to define coupling error based on the tracking error of the end effector and the synchronization error in the coordinate axis direction, and to construct a finite-time adaptive synchronous motion controller by combining the tracking error and the coupling error.

[0054] Example 3: Embodiment 3 of the present invention provides a medium on which a program is stored. When the program is executed by a processor, it implements the steps in the finite-time synchronous motion control method for a pneumatic muscle robot as described in Embodiment 1 of the present invention.

[0055] Example 4: Embodiment 4 of the present invention provides a device including a memory, a processor, and a program stored in the memory and executable on the processor. When the processor executes the program, it implements the steps in the finite-time synchronous motion control method for a pneumatic muscle robot as described in Embodiment 1 of the present invention.

[0056] The steps and methods involved in Examples 2, 3 and 4 above correspond to those in Example 1. For specific implementation details, please refer to the relevant description section of Example 1.

[0057] Those skilled in the art will understand that the modules or steps of the present invention described above can be implemented using general-purpose computer devices. Optionally, they can be implemented using computer-executable program code, thereby allowing them to be stored in a storage device for execution by a computer device, or they can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. The present invention is not limited to any particular combination of hardware and software.

[0058] While the specific embodiments of the present invention have been described above in conjunction with the accompanying drawings, this is not intended to limit the scope of protection of the present invention. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art without creative effort based on the technical solutions of the present invention are still within the scope of protection of the present invention.

Claims

1. A finite-time synchronous motion control method for a pneumatic muscle robot, characterized in that, Includes the following steps: Obtain the state parameters of the pneumatic muscle-driven parallel robot, and establish kinematic and dynamic models based on the state parameters; Obtain the reference trajectory of the end effector that the pneumatic muscle-driven parallel robot needs to track, and obtain the tracking error of the end effector based on the comparison between the reference trajectory and the actual running trajectory. Define the contour error, obtain the synchronization error in the coordinate axis direction based on the tracking error of the end effector and the contour error, and then obtain the equivalent target of synchronous motion control; The synchronization error is designed as follows regarding the tracking error along the coordinate axes: ， in, For synchronization error, To track errors, The reference trajectory is at point The unit normal vector at that location; The coupling error is defined based on the tracking error of the end effector and the synchronization error in the coordinate axis direction. A finite-time adaptive synchronous motion controller is constructed by combining the tracking error and the coupling error, specifically as follows: The coupling error is defined as follows: ， in, For coupling error, For coupling gain, It is a positive constant. It is the identity matrix; The finite-time adaptive synchronous motion controller is: ， in, For finite-time adaptive synchronous motion controller, For Jacobian matrices, The angle of upper arm rotation. This is the reference trajectory of the end effector in Cartesian space. For the tracking error of the end effector, For filter signals, For coupling gain, For the nominal value matrix, and To design a positive definite diagonal matrix, To meet The constant, and It is a positive odd number. It is a positive constant. , , A positive constant. and Weights in a fuzzy logic system and approximation error bound The estimate, and These are the basis function vector and the input vector in the fuzzy logic system, respectively.

2. The finite-time synchronous motion control method for a pneumatic muscle robot as described in claim 1, characterized in that, By combining geometric analysis and the three-element model of pneumatic muscle, a kinematic model and a dynamic model with air pressure as input are established.

3. The finite-time synchronous motion control method for a pneumatic muscle robot as described in claim 1, characterized in that, Define the contour error as: , in, For contour error, For actual location Location coordinates, Indicates the distance from the actual position on the reference trajectory nearest point Position coordinates; In controller design, the profile error is estimated, i.e. ， in, For contour error estimation, Indicates reference position Distance from actual position on the tangent line nearest point The location coordinates.

4. The finite-time synchronous motion control method for a pneumatic muscle robot as described in claim 3, characterized in that, Motion control of pneumatic muscle-driven parallel robots requires tracking error and contour error estimation to converge to the origin.

5. A finite-time synchronous motion control system for a pneumatic muscle robot, characterized in that, include: The model building module is configured to acquire the state parameters of the pneumatic muscle-driven parallel robot and build kinematic and dynamic models based on the state parameters. The tracking error calculation module is configured to obtain the reference trajectory of the end effector that the pneumatic muscle-driven parallel robot needs to track, and to obtain the tracking error of the end effector based on the comparison between the reference trajectory and the actual running trajectory. The synchronization error calculation module is configured to define the contour error, obtain the synchronization error in the coordinate axis direction based on the tracking error and contour error of the end effector, and then obtain the equivalent target of synchronous motion control. The synchronization error is designed as follows regarding the tracking error along the coordinate axes: ， in, For synchronization error, To track errors, The reference trajectory is at point The unit normal vector at that location; The controller design module is configured to define coupling errors based on the tracking error of the end effector and the synchronization error in the coordinate axis direction, and to construct a finite-time adaptive synchronous motion controller by combining the tracking error and the coupling error, specifically: The coupling error is defined as follows: ， in, For coupling error, For coupling gain, It is a positive constant. It is the identity matrix; The finite-time adaptive synchronous motion controller is: ， in, For finite-time adaptive synchronous motion controller, For Jacobian matrices, The angle of upper arm rotation. This is the reference trajectory of the end effector in Cartesian space. For the tracking error of the end effector, For filter signals, For coupling gain, For the nominal value matrix, and To design a positive definite diagonal matrix, To meet The constant, and It is a positive odd number. It is a positive constant. , , A positive constant. and Weights in a fuzzy logic system and approximation error bound The estimate, and These are the basis function vector and the input vector in the fuzzy logic system, respectively.

6. A computer-readable storage medium, characterized in that, It stores multiple instructions, which are adapted to be loaded and executed by the processor of the terminal device, and are the finite-time synchronous motion control method for the pneumatic muscle robot according to any one of claims 1-4.

7. A terminal device, characterized in that, It includes a processor and a computer-readable storage medium, the processor being used to implement various instructions; the computer-readable storage medium being used to store multiple instructions adapted to be loaded by the processor and executed by the processor for the finite-time synchronous motion control method of the pneumatic muscle robot according to any one of claims 1-4.

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