| 一种下肢外骨骼机器人随动控制算法的研究 |
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| 引用本文： | 赵汉宾,赵子毅,赵江海,王玉.一种下肢外骨骼机器人随动控制算法的研究[J].计算机科学,2017,44(Z6):68-69, 104. |
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| 作者姓名： | 赵汉宾 赵子毅 赵江海 王玉 |
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| 作者单位： | 中国科学院合肥物质科学研究院先进制造技术研究所 常州213164,中国科学院合肥物质科学研究院先进制造技术研究所 常州213164,中国科学院合肥物质科学研究院先进制造技术研究所 常州213164,中国科学院合肥物质科学研究院先进制造技术研究所 常州213164 |
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| 基金项目： | 本文受常州市科技支撑项目(CE20150013),江苏省自然科学基金项目(BK20141160)资助 |
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| 摘 要： | 随动控制算法对下肢外骨骼机器人的助力效果起着决定性的作用。根据零力控制算法及下肢外骨骼机器人的运动特点,提出了一种末端随动控制算法,并给出了算法推导过程。最后通过Matlab仿真验证了该算法的有效性。
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| 关 键 词： | 外骨骼机器人 零力控制 末端随动控制算法 |
Research on Lower Extremity Exoskeleton Robot Servo Control Algorithm |
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| ZHAO Han-bin,ZHAO Zi-yi,ZHAO Jiang-hai and WANG Yu.Research on Lower Extremity Exoskeleton Robot Servo Control Algorithm[J].Computer Science,2017,44(Z6):68-69, 104. |
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| Authors: | ZHAO Han-bin ZHAO Zi-yi ZHAO Jiang-hai and WANG Yu |
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| Affiliation: | Institute of Advanced Manufacturing Technology,Hefei Institutes of Physical Science,Chinese Academy of Sciences,Changzhou 213164,China,Institute of Advanced Manufacturing Technology,Hefei Institutes of Physical Science,Chinese Academy of Sciences,Changzhou 213164,China,Institute of Advanced Manufacturing Technology,Hefei Institutes of Physical Science,Chinese Academy of Sciences,Changzhou 213164,China and Institute of Advanced Manufacturing Technology,Hefei Institutes of Physical Science,Chinese Academy of Sciences,Changzhou 213164,China |
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| Abstract: | The servo control algorithm plays a decisive role in assisted effect of the lower extremity exoskeleton robot.Based on zero power control algorithm and characteristics of the lower limb exoskeleton robot movement,a terminal servo control algorithm was proposed,and the algorithm process was given.Finally the effectiveness of the proposed algorithm is verified by Matlab simulation. |
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| Keywords: | Exoskeleton robot Zero force control Terminal servo control |
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