【作者】 赵勇；

【导师】 刘昊；

【作者基本信息】 浙江大学 ， 机械电子工程， 2015， 硕士

【摘要】 助力上肢外骨骼作为一种可穿戴的机器人系统,由于能够显著增强人体机能而得到了广泛的研究。以气动肌肉为执行器的外骨骼系统具有良好的柔顺性,但气动肌肉模型及气动系统固有的非线性很强,这就增加了控制的难度。本文针对选用气动肌肉作为执行器的助力上肢外骨骼,对系统的建模及人机协同控制做了系统的研究。首先,测试了气动肌肉的力学特性并建立了拟合模型；基于所建模型设计了两种离散型滑模控制器对直线运动的肌肉测试系统进行控制,又对单自由度机械臂设计了连续滑模控制器,实验结果说明滑模控制具有很强的鲁棒性。其次,分析了双自由度机械臂的耦合动力学方程,与前一章建立的执行器模型构成了外骨骼的状态方程；为研究滑模控制率的解耦性能,设计了机械臂末端的轨迹跟踪控制器,并通过实验进行验证。再次,建立了人机交互的阻抗模型,通过接触力信号生成运动控制器的参考信号,以实现对穿戴者运动意图的准确判别。实验说明了控制策略具有良好的抗干扰性和快速性。最后,针对不同的控制目标,开发了集测试与控制为一体的上位机软件以及以FPGA为PWM主控单元的硬件系统。更多还原

【Abstract】 As a kind of wearable robot systems, the power-assist upper extremity exoskeleton has been widely studied for its ability to enhance the user’s function. Exoskeleton driven by pneumatic muscles (PM) has good flexibility, but its dynamics and the pneumatics system’s inherent nonlinearity make the system harder to control. This dissertation is focused on the research about modeling and human-robot cooperative control of an upper extremity exoskeleton driven by pneumatic muscles.Firstly, PM’s mechanical properties are tested in order to establish the experimental model. Based on this model, two kinds of discrete sliding mode controllers are designed for PM test system. Furthermore, a single-degree-of-freedom system’s continuous sliding mode controller is designed, and the experiment results prove that the sliding mode control law has better robustness.Secondly, the double-degree-of-freedom mechanical arm’s coupled dynamics is analyzed and the exoskeleton’s state equations are deduced next. In order to study sliding mode law’s decoupling performance, the arm end’s tracking controller is designed and it’s verified by experiments.Thirdly, the human-robot interaction (HRI) model is established and the reference signals produced by the contact force are used to judge the wearer’s moving intentions accurately. The model’s good anti-interference performance and the controller’s quickness are proved in the experiments.Finally, we developed the PC-based software with measurement and control functions for different control objectives. Besides, the hardware system is set up with FPGA as the PWM control unit.更多还原