一种多自由度康复外骨骼机械臂的虚拟分解控制

doi:10.3901/JME.2022.09.021

机械工程学报 ›› 2022, Vol. 58 ›› Issue (9): 21-30.doi: 10.3901/JME.2022.09.021

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一种多自由度康复外骨骼机械臂的虚拟分解控制

程杨, 潘尚峰

清华大学机械工程系北京 100086

收稿日期:2021-05-27 修回日期:2021-10-11 出版日期:2022-05-05 发布日期:2022-06-23
通讯作者: 潘尚峰(通信作者)，男，1961年出生，硕士，副教授，硕士研究生导师。主要研究方向为数控技术、液压传动与控制、可靠性工程。E-mail：pansf@mail.tsinghua.edu.cn E-mail:pansf@mail.tsinghua.edu.cn
作者简介:程杨，男，1997年出生。主要研究方向为机器人动力学、柔顺控制、康复外骨骼。E-mail：y-cheng19@mails.tsinghua.edu.cn

Virtual Decomposition Control of a Multi-degree-of-freedom Rehabilitation Exoskeleton Robotic Arm

CHENG Yang, PAN Shangfeng

Department of Mechanical Engineering, Tsinghua University, Beijing 100086

Received:2021-05-27 Revised:2021-10-11 Online:2022-05-05 Published:2022-06-23

摘要/Abstract

摘要： 为满足脑卒中患者康复训练的需求，康复外骨骼机械臂需要具有多个自由度。项目采用的康复外骨骼机械臂具有5个自由度，排除运动相对独立的腕关节，仍需要对机械臂剩余4自由度进行高精度控制，从而保证患者康复的安全性、舒适性及康复的有效性。多自由度串联机械臂具有高度的非线性，增加了其建模控制的复杂程度。利用虚拟分解控制理论，将复杂系统分解为几个简单的子系统进行分析及控制，再将所有子系统控制器组建成系统虚拟分解控制器，降低其动力学建模复杂程度，大大控制减少计算量，便于提高系统响应性。采用Simulink与ADAMS对机械臂进行联合控制仿真及实物试验，与采用固定重力补偿的PID控制方法进行了对比。结果表明，对于高度非线性系统，虚拟分解理论的控制效果比PID方法好。

关键词: 虚拟分解控制, 康复外骨骼, 串联机械臂, 非线性系统

Abstract: In order to meet the needs of rehabilitation training for stroke patients, the rehabilitation exoskeleton manipulator arm needs to have multiple degrees of freedom. The rehabilitation exoskeleton manipulator arm used in this project has 5 degrees of freedom. Excluding the relatively independent wrist joints, the remaining 4 degrees of freedom of the manipulator arm still need to be controlled with high precision to ensure the safety, comfort and rehabilitation effect of patients. The multi-degree-of-freedom tandem manipulator arm has a high degree of nonlinearity, which increases the complexity of its modeling and control. Using the virtual decomposition control theory, the complex system is decomposed into several simple subsystems for analysis and control, and then all the subsystem controllers are assembled into a system virtual decomposition controller, which reduces the complexity of dynamic modeling, greatly reduces control and calculation and is convenient to improve the responsiveness of the system. Simulink and ADAMS are used to carry out joint control simulation and physical experiment of the manipulator, which is compared with the PID control method which adopts fixed gravity compensation. The results show that for highly nonlinear systems, the control effect of the virtual decomposition theory is better than that of the PID method.

Key words: virtual decomposition control, rehabilitation exoskeleton, tandem manipulator arm, nonlinear system

中图分类号:

TP242

程杨, 潘尚峰. 一种多自由度康复外骨骼机械臂的虚拟分解控制[J]. 机械工程学报, 2022, 58(9): 21-30.

CHENG Yang, PAN Shangfeng. Virtual Decomposition Control of a Multi-degree-of-freedom Rehabilitation Exoskeleton Robotic Arm[J]. Journal of Mechanical Engineering, 2022, 58(9): 21-30.

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一种多自由度康复外骨骼机械臂的虚拟分解控制

Virtual Decomposition Control of a Multi-degree-of-freedom Rehabilitation Exoskeleton Robotic Arm

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