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Tracking control method of rehabilitation walking robot with randomly changed mass of different trainees

A walking robot, random change technology, applied in non-electric variable control, two-dimensional position/channel control, control/regulation system and other directions, can solve problems such as threats to the safety of trainers, robots colliding with objects, random changes, etc.

Pending Publication Date: 2020-04-10
SHENYANG POLYTECHNIC UNIV
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Problems solved by technology

[0003] In recent years, there have been many research results on the trajectory tracking control of rehabilitation walking robots, but these results cannot solve the problem of random changes in the quality of different trainers
If the walking robot cannot adapt to trainers of different qualities, it will not only affect the tracking accuracy, but also the excessive trajectory tracking error will cause the robot to collide with surrounding objects, thus threatening the safety of the trainer
So far, there is no tracking control method for random changes in the quality of different trainers. This invention studies the method of improving the tracking accuracy of rehabilitation walking robots based on a new perspective, which is of great significance to ensure the safety of trainers

Method used

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  • Tracking control method of rehabilitation walking robot with randomly changed mass of different trainees
  • Tracking control method of rehabilitation walking robot with randomly changed mass of different trainees
  • Tracking control method of rehabilitation walking robot with randomly changed mass of different trainees

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Embodiment Construction

[0107] The present invention will be further described below in conjunction with the accompanying drawings, but the protection scope of the present invention is not limited by the embodiments.

[0108] A tracking control method for a rehabilitation walking robot whose mass varies randomly with different trainers, the method is as follows:

[0109] 1) According to the dynamic model of the rehabilitation walking robot, the mass m of the trainer is converted into a random variable, and a stochastic differential equation describing the mass change of different trainers is established;

[0110] 2) Based on the stochastic differential equation and stochastic Lyapunov stability theory, construct the exponential stability condition of the trajectory tracking error system, and obtain a tracking controller that can adapt to the random variation of the trainer's quality;

[0111] 3) Based on the MSP430 series single-chip microcomputer, the output PWM signal is provided to the motor drive...

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Abstract

The invention discloses a kinetic model of a rehabilitation walking training robot. The mass of a trainee in a coefficient matrix is converted into a random variable, and a random differential equation of the rehabilitation walking robot is established; a controller design method for randomly changing the masses of different trainees is provided; based on a random Lyapunov stability theory, the exponential stability condition of a trajectory tracking error system is constructed, a tracking controller capable of adapting to the random change of the mass of a trainee is obtained, the tracking precision of the rehabilitation walking robot system is improved, and the safety of the trainee is guaranteed. The controller is simple in design and easy to realize, and the controller has no mass information of the trainee, so that the rehabilitation walking robot can be applied to different trainees, the influence of the mass change of the trainee on the tracking performance is avoided, the trajectory tracking precision is improved, and the safety of the trainee is guaranteed.

Description

technical field [0001] The invention relates to the control field of a wheeled rehabilitation robot, in particular to a control method of a wheeled lower limb rehabilitation robot. Background technique [0002] Traffic accidents and population aging have increased the number of patients with walking impairments year by year. Due to the lack of professional rehabilitation personnel in my country, patients with walking impairments cannot receive timely and effective exercise training, thus gradually losing their walking function and unable to achieve daily independent living. With the application of rehabilitation walking robots in rehabilitation centers, nursing homes and other places, the problem of shortage of rehabilitation personnel has been effectively solved. However, in practical applications, trainers of different qualities seriously interfere with the tracking accuracy of the walking robot on the trajectory specified by the rehabilitation doctor, and the ideal rehabi...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0223G05D1/0214G05D1/0221G05D1/0276
Inventor 孙平孙桐薛皖东李树江单芮
Owner SHENYANG POLYTECHNIC UNIV
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