| 康复机器人上肢传递系统的周期稳态与自主控制 |
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| 引用本文： | 陶跃钢,王彩璐,王晓周,杨鹏.康复机器人上肢传递系统的周期稳态与自主控制[J].控制理论与应用,2018,35(1):103-109. |
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| 作者姓名： | 陶跃钢 王彩璐 王晓周 杨鹏 |
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| 作者单位： | 河北工业大学控制科学与工程学院,河北工业大学控制科学与工程学院,河北工业大学控制科学与工程学院,河北工业大学控制科学与工程学院 |
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| 基金项目： | 国家自然科学基金项目(60774007, 61305101)资助. |
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| 摘 要： | 研究康复机器人上肢传递系统的周期稳态和自主控制.运用计时事件图和极大–加代数方法,建立康复机器人上肢传递系统的数学模型,给出传递系统的周期计算公式、周期稳态的扰动估计范围和自主控制策略,并分析周期稳态相对于参数扰动的鲁棒性.周期稳态的扰动估计可用于提高上肢康复机器人工作的精确性和柔顺性,而自主控制策略有益于保证上肢康复机器人工作的实时性和安全性.扰动估计和自主控制方法易于计算,并有助于上肢康复机器人传递运动智能辅助系统的设计、控制和优化.
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| 关 键 词： | 极大–加代数 计时事件图 康复机器人 上肢传递系统 周期稳态 扰动估计 自主控制 离散事件系统 |
| 收稿时间： | 2016/11/24 0:00:00 |
| 修稿时间： | 2017/6/24 0:00:00 |
Period steady-state and autonomous control of the upper limb transfer system of rehabilitation robots |
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| TAO Yue-gang,WANG Cai-lu,WANG Xiao-zhou and YANG Peng.Period steady-state and autonomous control of the upper limb transfer system of rehabilitation robots[J].Control Theory & Applications,2018,35(1):103-109. |
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| Authors: | TAO Yue-gang WANG Cai-lu WANG Xiao-zhou and YANG Peng |
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| Affiliation: | School of Control Science and Engineering, Hebei University of Technology,School of Control Science and Engineering, Hebei University of Technology,School of Control Science and Engineering, Hebei University of Technology,School of Control Science and Engineering, Hebei University of Technology |
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| Abstract: | This paper investigates the period steady-state and autonomous control of the upper limb transfer system of
rehabilitation robots. By using timed event graph and max-plus algebra, the mathematical model of the transfer system is
established. The period formula, range of disturbance estimation and strategy of autonomous control are presented, and
the robust stability with respect to the parameter perturbation is analyzed. The disturbance estimation of the period steady
state can be used to improve the accuracy and compliance of the upper limb rehabilitation robot work, and the strategy of
autonomous control is beneficial to ensure the real-time and safety of the robot work. The proposed estimation and control
methods are easy to implement and can help to design, control and optimize the intelligent auxiliary system of the upper
limb transfer movement of rehabilitation robots. |
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| Keywords: | max-plus algebra timed event graph rehabilitation robot upper limb transfer system period steady-state disturbance estimation autonomous control discrete event system |
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