| 上肢外骨骼机器人控制系统建模与设计 |
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| 引用本文： | 贺琛,张小栋,杨玉涛.上肢外骨骼机器人控制系统建模与设计[J].测控技术,2009,28(12). |
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| 作者姓名： | 贺琛 张小栋 杨玉涛 |
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| 作者单位： | 西北工业大学动力与能源学院,陕西,西安,710072 |
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| 基金项目： | 西北工业大学2005届本科生毕业设计重点扶持项目资助 |
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| 摘 要： | 外骨骼机器人与军事和人们的日常生活联系日益紧密.首先在简要介绍外骨骼机器人的基础上,讨论了上肢外骨骼机器人控制系统的结构设计,以及基于力与位置的双闭环控制原理;进而,详细讨论了控制系统各环节的选型设计,给出了系统的各组成部分的工作原理.最后,讨论了外骨骼机器人控制系统数学模型的建立,并运用Matlab软件中的Simulink对上肢外骨骼机器人控制系统的数学模型进行仿真,分析了无刷直流电机的响应特性.研究结果表明,采用的力与位置控制能使系统快速、稳定地产生响应信号.
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| 关 键 词： | 外骨骼机器人 控制 数学模型 力 位置 |
Modeling and Design of Control System for Upper Limb Exoskeleton Robot |
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| HE Chen,ZHANG Xiao-dong,YANG Yu-tao.Modeling and Design of Control System for Upper Limb Exoskeleton Robot[J].Measurement & Control Technology,2009,28(12). |
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| Authors: | HE Chen ZHANG Xiao-dong YANG Yu-tao |
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| Abstract: | More and more importance has been attacked to exoskeleton robots with military, as well as the daily lives of people. First, the exoskeleton robot is introduced briefly, the mathematical model of control system for the upper limb exoskeleton robot and the double-closed-loop of the force and position control system are discussed. Then all aspects of the selection design for the control system are discussed, and the various components of the system are given. At last, through Matlab' s Simulink software, the mathematical model of the control system for the upper limb exoskeleton robot carries out the simulation, analysis of brushless DC motor of the response characteristics. The results show that the use of force and position control system enables fast and stable response signal generated. |
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| Keywords: | exoskeleton robot control mathematical model force position |
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