气动人工肌肉外骨骼机器人位置跟踪控制

针对以气动人工肌肉作为关节驱动器的外骨骼机器人关节位置跟踪控制问题进行了研究。首先,在动力学模型的基础上,设计了上层控制器,并结合自适应控制和滑模控制方法降低了动力学参数不准确和扰动项未知对外骨骼机器人的影响;其次,基于无模型方法设计了底层关节力矩控制器,调整外骨骼机器人的关节力矩;最后,针对上述控制方案设计仿真实验与外骨骼机器人的穿戴实验。结果表明,该控制方法对气动人工肌肉外骨骼机器人的关节位置跟踪控制是有效的。

Tracking Trajectory Control of Pneumatic Artificial Muscle Exoskeleton

The tracking trajectory control of the Pneumatic Artificial Muscle (PAM) exoskeleton robot is discussed in the study. Firstly, the higher layer of the controller was designed based on the dynamic model and combined with the adaptive law and sliding mode controller to reduce the effect on dynamic parameters inaccuracy and disturbance unknown. Then, the lower layer of the controller is designed based on the model-free method to adjust the joint torque powered by the PAM. Finally, to prove the proposed control method, the simulation experiment and the wearing experiment of the exoskeleton robot are designed, and the results prove that the proposed control method could effectively control the exoskeleton to tracking trajectory.