机器人2011，Vol.33Issue(3)：314-318,5.DOI:10.3724/SP.J.1218.2011.00314
全方位轮式下肢康复训练机器人轨迹跟踪控制
Trajectory Tracking Control of Omni-directional Wheeled Robot for Lower Limbs Rehabilitative Training
摘要
Abstract
Omni-directional wheeled robot for lower limbs rehabilitative training needs to track trajectory which is set by doctors. The uncertainties of the robot and the disturbances caused by trained patient affect the tracking performances.A nonlinear robust L2 controller is presented to solve disturbance rejection problems. Kinematics model of lower limbs rehabilitative training robot is presented, thereby, a kinematics model of the position error system is established. The tracking and uncertain disturbance rejection are formulated as an L2 control question to design control law with backstepping algorithm in a built storage function. A trajectory tracking controller meeting the disturbance rejection requirement is constructed.Simulation and experiment results show that the proposed controller is effective.关键词
下肢康复机器人/轨迹跟踪/重心轨迹/鲁棒控制Key words
lower limbs rehabilitative robot/ trajectory tracking/ center of gravity trajectory/ robust control分类
信息技术与安全科学引用本文复制引用
杨俊友,白殿春,王硕玉,赵文增..全方位轮式下肢康复训练机器人轨迹跟踪控制[J].机器人,2011,33(3):314-318,5.基金项目
国家自然科学基金资助项目(51075281) （51075281）
辽宁省高等学校创新团队项目(LT2010081). （LT2010081）
