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Robot safety control method and system based on dynamical system

A control method and technology of safety control, applied in passive exercise equipment, program-controlled manipulators, manipulators, etc., can solve the problems such as the difficulty in reflecting the patient's subjective movement ability and the difficulty in reflecting the treatment effect, so as to help lower extremity rehabilitation and improve lower extremity rehabilitation. Effect

Active Publication Date: 2017-05-31
SHENYANG SIASUN ROBOT & AUTOMATION
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Since the joints of the rehabilitation robot adopt a kinematic control method, the joints that need rehabilitation are forced to passively follow the movement of the rehabilitation robot, which makes it difficult to reflect the patient's subjective movement ability and the therapeutic effect during the treatment process.

Method used

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  • Robot safety control method and system based on dynamical system

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Embodiment Construction

[0028] See figure 1 , figure 1 It is a schematic structural diagram of a robot control system based on a dynamics system provided by an embodiment of the present invention. Such as figure 1 As shown, the robot control system 10 based on the dynamics system of the present invention includes a model construction unit 11, an information acquisition unit 12, a parameter identification unit 13, a control unit 14, a diagnosis unit 15 and a safety protection unit 16.

[0029] The model construction unit 11 is used to construct a robot dynamics model according to the joint structure of the robot.

[0030] The information collection unit 12 is used to collect signals required by the entire lower limb rehabilitation robot (hereinafter referred to as "robot"). The belonging information collection unit 12 also includes a torque sensor 121, a position and speed sensor 122, and a current sensor 123. The torque sensor 121 is used to collect the torque signal of the joint; the position and speed ...

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Abstract

The invention discloses a robot safety control method and device based on a dynamical system. The control method includes the following steps that a robot dynamical model is established according to the joint structure of a robot; signals required by the whole robot are collected, and the signals comprise joint torque signals, angle and angular velocity signals and motor current signals; the overall dynamical model and friction model parameters of a patient who carries the robot are recognized according to the least square method; a joint torque curve and a corresponding friction torque curve are acquired according to the joint torque signals, and the optimum control sequence of all joints is predicted according to a given motion trail; and the force exerting condition of the patient is calculated according to the joint torque signals and the angle and angular velocity signals, and the recovery state of the patient can be diagnosed.

Description

Technical field [0001] The invention relates to the field of service robot motion control, in particular to a robot control method and system based on a dynamic system. Background technique [0002] The traditional lower extremity rehabilitation robot adopts a kinematics-based control method. Under offline conditions, the doctor’s experience is used to plan the movement trajectory of some joints. Through the operation of the joint drive motor, the lower extremity rehabilitation robot drives the patient’s joints to move. The auxiliary rehabilitation effect. Since the joints of the rehabilitation robot adopt a kinematic control method, the joints that require rehabilitation are forced to follow the motion of the rehabilitation robot passively, which makes it difficult for the patient's subjective action ability to be reflected, and the therapeutic effect during the treatment process is not easy to reflect. The requirements of modern medicine for the effect of treatment and the spe...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16A61H1/02
CPCA61H1/02A61H1/0237A61H2201/0157A61H2201/1207A61H2201/5058B25J9/1633
Inventor 王宏玉徐方邹风山唐冲孙秉斌姜铁程
Owner SHENYANG SIASUN ROBOT & AUTOMATION
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