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基于模糊推理与无源性理论的上肢康复机器人柔顺控制
Alternative TitleCompliance Control Based on the Fuzzy Inference and Passivity Theory for Upper Limb Rehabilitation Robot
侯澈; 赵忆文; 宋国立; 王争
Department机器人学研究室
Conference Name36th Chinese Control Conference
Conference DateJuly 26-28, 2017
Conference PlaceDalian, China
Author of Source中国自动化学会控制理论专业委员会
Source PublicationProceedings of the 36th Chinese Control Conference
2017
Pages4305-4311
Contribution Rank1
Keyword康复机器人 阻抗控制 模糊推理 柔性关节
Abstract针对具有柔性关节的上肢康复机器人,提出了一种基于模糊推理与无源性理论的柔顺控制方法。首先对康复机器人的动力学模型进行分析,在该模型上分别实现了基于关节空间和笛卡尔空间的柔顺控制方法。建立接触力矩观测器实时估计患者与上肢康复机器人的接触力,再运用模糊推理算法对阻抗控制的刚度进行实时调整以保证患者得到适宜的接触力。实验结果表明,该方法具有较好的稳定性和鲁棒性,同时能够通过改变控制器的刚度系数调节患者与机器人间的接触力,保证了使用者的安全性与舒适性。
Other AbstractFor the upper limb rehabilitation robot with flexible joints, a compliance control based the fuzzy method and passivity method is proposed. The kinetic model of robot is analyzed firstly. Impedance control based on joint and Cartesian space is implemented. Interaction torque observer is designed for estimating the interaction torque between human and robot. Then the fuzzy inference algorithm to adjust stiffness of the impedance controller is used in order to make the user obtain suitable contact force. Experimental results show that this method has good stability and robustness. It also could adjust the contact force between patient and robot through changing the Stiffness coefficients of controller, which will ensure the user^ safety and comfort.
Language中文
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/21069
Collection机器人学研究室
Corresponding Author侯澈
Affiliation1.中国科学院沈阳自动化研究所机器人学国家重点实验室
2.中国科学院大学
Recommended Citation
GB/T 7714
侯澈,赵忆文,宋国立,等. 基于模糊推理与无源性理论的上肢康复机器人柔顺控制[C]//中国自动化学会控制理论专业委员会,2017:4305-4311.
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