【摘要】 针对康复训练过程中如何协调控制患者骨盆运动的问题,设计了由4根绳牵引的三自由度绳牵引并联康复机器人。基于力/位混合控制的思想,利用牛顿-欧拉法建立了绳牵引康复机器人的动力学模型,推导出绳的拉力和驱动电机控制力矩的计算公式。考虑到该机器人系统具有非线性、强耦合、多输入多输出等特点,采用模糊滑模控制算法来实现骨盆的轨迹跟踪。理论分析和仿真实验结果表明,该控制算法不仅能满足骨盆轨迹跟踪精度的要求,而且具有较强的鲁棒性。更多还原

【Abstract】 During the course of rehabilitative training,a wire-driven parallel robot was designed to coordinate and control the trainer pelvis movement.Based on the idea of force/position hybrid control,using the Newton-Euler,the dynamics equation was established.The relations between the pulling force and the torque calculation formulation of driving motors were deduced.In view of the characteristics of nonlinearity,strong coupling and MIMO(multi-input multi-output)of the system,a fuzzy sliding mode control algorithm was utilized to realize the pelvis trajectory tracking.The results of theoretical analysis and simulation experiments show that the tracking accuracy is much better and the control system has strong robustness.更多还原