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康复机械臂关节运动仿真分析与控制方法研究

发表时间:2016-04-30  浏览量:1721  下载量:935
全部作者: 文伟松,高宏
作者单位: 中国农业大学工学院;北京信息科技大学机电工程学院
摘 要: 研究一种上肢康复机械臂及其动力学控制方法,用于患者作康复训练。在虚拟环境下对康复机械臂进行虚拟仿真,模拟患者腕部康复训练过程中运动参数变化。提出一种基于三次拟合关节角速度函数,并从理论上提出重力补偿方法。综合速度变化和重力补偿因素,求解肘关节驱动力矩函数。此动力学控制方法可稳定控制各关节电机。
关 键 词: 机械制造自动化;康复机械臂;虚拟仿真;重力补偿
Title: Simulation research on joint motion analysis and control strategy for rehabilitation manipulator
Author: WEN Weisong, GAO Hong
Organization: College of Engineering, China Agricultural University; Mechanical Engineering Electrical School, Beijing Information Science & Technology University
Abstract: We studied an upper limb rehabilitation manipulator and its control approach, applying for patients’ training. Virtual simulation of the upper limb rehabilitation manipulator was made in virtual environments to simulate the motion parameters variation of wrist of patients when training. In this article, a velocity function of joint based on cubic fitting was proposed, and an approach of gravity compensation was presented theoretically. Synthesizing velocity variation and gravity compensation factors, the driving torque function of elbow joint was solved. This control strategy can control each motor of joints steadily.
Key words: mechanical manufacturing and automation; rehabilitation manipulator; virtual simulation; gravity compensation
发表期数: 2016年4月第8期
引用格式: 文伟松,高宏 . 康复机械臂关节运动仿真分析与控制方法研究[J]. 中国科技论文在线精品论文,2016,9(8):822-828.
 
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