Embedded type control system based on upper limb exoskeleton assisting robots

Abstract

The invention discloses an embedded type control system based on upper limb exoskeleton assisting robots. Each upper limb exoskeleton assisting robot is mainly composed of two single-arm components same in structure and a back support, and the single-arm components are formed by elbow joints and shoulder joints in sequence from bottom to top. The embedded type control system further comprises an ARM microprocessor module, a DSP microcontroller module, an ARM signal conditioning module, a DSP signal conditioning module, a power module, two operator movement intention detection sensors, four angular displacement sensors and four driving units same in structure. The ARM microprocessor module is connected with the DSP microcontroller module through a CAN bus, and the four driving units are connected with exoskeleton mechanisms and drive the exoskeleton mechanisms to move. The embedded type control system based on the upper limb exoskeleton assisting robots is an exoskeleton assisting robot embedded type control platform which is complete in function and easy to develop and maintain, and has the advantages of being high in real-time response speed, high in real-time multi-task performance, high in driving capacity, low in power dissipation, good in universal expandability, small and the like.

Description

technical field [0001] The invention relates to an exoskeleton robot, in particular to an embedded control system based on an upper limb exoskeleton assisting robot. Background technique [0002] Exoskeleton robot technology can be understood as a wearable robot technology in essence, imitating the exoskeleton in the biological world to develop a new type of mechatronics device, which can be worn on the outside of the operator's body to provide the operator with protection, body support, etc. , sports assistance and other functions. At the same time, it combines sensing, control, information fusion, mobile computing and other robotic technologies to combine human intelligence and robot "physical strength", so that the exoskeleton can be completed under the control mode participated by the operator only by the operator's own ability A task that cannot be done independently. Therefore, the combination of human intelligence and the powerful mechanical energy of robots into on...

AI Technical Summary

Problems solved by technology

[0004] In terms of control, there are currently many mainstream and advanced control methods and ideas in the world, such as master-slave control, myoelectric control, ZMP control, direct force feedback control, etc., and these controls often involve complex control algorithms, such as PID control. Algorithms, fuzzy neural network control algorithms and sliding mode control algorithms, etc., require a large amount of data calculation and transmission, which causes a heavy workload on the embedded control platform using ordinary single-chip microcomputers, thereby further affecting the circuit execution efficiency and final control Effect

The control platform using a general-purpose computer as the core has powerful computing and control capabilities, but its volume and power consumption are relatively large.

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