科技创新与应用2024，Vol.14Issue(25)：9-12,4.DOI:10.19981/j.CN23-1581/G3.2024.25.003
基于先进传感与控制技术的外骨骼机器人设计
摘要
Abstract
In this paper,an accurate exoskeleton robot kinematics model is established by analyzing the kinematics theory of the lower limb exoskeleton robot.In order to realize the high precision control of the robot,based on the real-time data obtained by the inertial sensor,a control algorithm based on the combination of PID and neural network is proposed.The algorithm combines the stability of traditional PID control and the ability of neural network to deal with nonlinear system,and significantly improves the motion accuracy and response speed of the robot.The simulation results verify the accurate follow and good human-computer interaction experience of the designed exoskeleton robot in different motion scenes,which provides a certain technical basis for the practical application of exoskeleton robot in medical rehabilitation,industrial manufacturing and other fields.关键词
外骨骼机器人/传感器/PID控制/神经网络/仿真Key words
exoskeleton robot/sensor/PID control/neural network/simulation分类
信息技术与安全科学引用本文复制引用
周玉康,曾妍,黎颖,吴霜露,王威..基于先进传感与控制技术的外骨骼机器人设计[J].科技创新与应用,2024,14(25):9-12,4.基金项目
2023年国家级大学生创新创业训练计划项目(S202310554001) （S202310554001）
2023年度湖南省普通高等学校教学改革研究项目(HNJG-20230829) （HNJG-20230829）
湖南工商大学学位与研究生教育教改研究项目(YJG2021YB03) （YJG2021YB03）
