气动肌肉驱动脚踝康复机器人控制方法研究

发布时间：2018-03-31 08:55

本文选题：气动肌肉　切入点：脚踝康复　出处：《武汉理工大学》2015年硕士论文

【摘要】：气动肌肉是一种新型的柔性气体驱动器,它具有重量轻、输出功率/自重比大、安全性好、价格低、清洁等优点,并且其驱动力与长度的输出特性关系和人类肌肉比较类似,具有很好的顺从性。由于上述的优点,将气动肌肉应用于医疗康复、仿生机器人等领域具有很好的发展前景。采用气动肌肉作为驱动器的脚踝康复机器人,不仅能够帮助脚踝损伤患者进行精确的、有效的康复训练,而且能够确保患者进行康复运动时的安全性,具有很好的实际应用价值。本文研究的气动肌肉驱动脚踝康复机器人是一个非线性强、部分参数时变的复杂系统,具有两个自由度,存在一个冗余驱动。基于该机器人实验平台,研究了机器人的位置控制以及力控制方法,实现了患者脚踝康复训练的不同运动模式。本文的主要研究工作如下:(1)根据气动肌肉的工作原理与特性,研究了气动肌肉的模型。在分析气动肌肉理想数学模型的基础上,利用迟滞模型建立了气动肌肉的实验数学模型,为机器人的实际控制做铺垫;介绍了脚踝康复机器人的实验平台,分析了平台的基本硬件组成与工作原理,开发了机器人的上位机软件控制系统;分析了机器人运动学的相关知识。(2)结合机器人的运动学知识,提出了脚踝康复机器人的位置控制方法,机器人按照预设的脚踝康复运动轨迹进行运动。位置控制采用模糊控制策略,加入了自调节机制,增强了控制器的适应性;同时,将建立的气动肌肉实验数学模型作为补偿加入该控制器,克服了机器人驱动器位置控制中存在的滞后性,提高了控制的精确度。(3)从踝关节康复运动的需求出发,提出了脚踝康复机器人的力控制方法。由于机器人存在冗余驱动,对机器人的各驱动支路进行了驱动力优化求解,优化了气动肌肉驱动力的分配;力控制采用基于位置内环的阻抗控制方法,通过对三根气动肌肉驱动器进行力跟踪控制,保证机器人平台输出的康复力矩要求。气动肌肉驱动脚踝康复机器人的位置与力控制方法在实验平台上取得了良好的控制效果,对机器人在实际的脚踝康复应用中提供了很好的技术支持。
[Abstract]:Pneumatic muscle is a new type of flexible gas driver. It has the advantages of light weight, high output power / weight ratio, good safety, low price, clean and so on. The relationship between driving force and length output characteristic is similar to that of human muscle. Because of the above advantages, the application of pneumatic muscle in medical rehabilitation, biomimetic robot and other fields has a good development prospects. Using pneumatic muscle as the driver of ankle rehabilitation robot, It not only helps patients with ankle injuries carry out accurate and effective rehabilitation training, but also ensures the safety of patients during rehabilitation exercise. The pneumatic muscle driven ankle rehabilitation robot studied in this paper is a nonlinear, partially time-varying complex system with two degrees of freedom. Based on the experimental platform of the robot, the position control and force control methods of the robot are studied. The main research work of this paper is as follows: (1) according to the working principle and characteristics of pneumatic muscle, the model of pneumatic muscle is studied. On the basis of analyzing the ideal mathematical model of pneumatic muscle, An experimental mathematical model of pneumatic muscle is established by using hysteresis model, which lays the groundwork for the actual control of robot, introduces the experimental platform of ankle rehabilitation robot, and analyzes the basic hardware composition and working principle of the platform. The software control system of the robot is developed, and the position control method of the ankle rehabilitation robot is put forward by analyzing the related knowledge of the robot kinematics and the kinematics knowledge of the robot. The robot moves according to the pre-designed ankle rehabilitation track. The position control adopts fuzzy control strategy, which adds the self-regulation mechanism to enhance the adaptability of the controller, at the same time, The mathematical model of pneumatic muscle experiment is added to the controller as compensation, which overcomes the lag in position control of robot driver, and improves the precision of control. The force control method of ankle rehabilitation robot is put forward. Because the robot has redundant drive, the driving force of each driving branch of the robot is solved optimally, and the distribution of pneumatic muscle driving force is optimized. The force control adopts the impedance control method based on the position inner loop, and carries on the force tracking control to three pneumatic muscle actuators. The position and force control method of pneumatic muscle driving ankle rehabilitation robot has achieved good control effect on the experimental platform. It provides good technical support for the robot in the actual ankle rehabilitation application.
【学位授予单位】：武汉理工大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TP242;R496

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