%0 Journal Article
%T 足底驱动型下肢康复机器人的运动学建模与轨迹跟踪控制研究<br>Kinematics Modeling and Simulation of Trajectory Tracking Control of a Foot-Plate-Based Lower-Limb Rehabilitation Robot
%A 谢胜龙
%A 梅江平
%A 刘海涛
%J 天津大学学报（自然科学与工程技术版）
%D 2018
%R 10.11784/tdxbz201707005
%X 为简单、精确地实现对一种由高速开关阀和气动人工肌肉作为驱动控制单元的足底驱动型下肢康复机器人的轨迹跟踪控制, 提出了一种基于MATLAB/Simulink的仿真控制模型．基于模块化思想, 将该机器人控制系统划分为系统输入模块、位置逆解模块、单支链驱动控制模块和位置正解模块．首先对该机器人进行结构分析, 在此基础上推导出其运动学正逆解模型, 为位置正逆解模块提供理论依据．然后, 建立人体下肢运动学模型, 带入关节角度数据得到足底运动轨迹, 在此基础上用傅里叶级数拟合得到足心和背伸/跖屈角对时间的函数表达式, 作为系统的输入模块．最后, 采用关节空间控制方法结合各子模块构造出下肢康复机器人控制仿真模型, 特别地, 采用了实验的方法验证了单支链驱动控制模块的准确性．在此基础上, 在MATLAB/Simulink模块中对所建立的系统仿真控制模型进行了仿真．结果表明, 所建立的控制模型能够精确地跟踪期望的运动轨迹, 从而验证了控制模型和控制方案的精确性和可行性, 为实现该机器人的轨迹跟踪控制提供了有效手段．<br>To simply and precisely realize the trajectory tracking control of a foot-plate-based lower-limb rehabilitation robot driven by the actuators combined by fast switching valves and pneumatic artificial muscles，a simulation control model was proposed in the environment of MATLAB/Simulink. The control system of this robot was divided into input model，inverse kinematics model，single-drive-control model and forward kinematics model based on the modular thought. Firstly，the inverse and forward kinematics formulas were developed based on the structure analysisof the robot，which is the theoretical principle of inverse and forward kinematics models. Then the lower-limb kinematical model of human was developed，the joint angle data was input into the model to get the motion trajectory of foot，and the foot center and dorsal extension/plantar flexion angle functions of time was obtained by using Fourier series method，which was used to be the input model. Finally，the simulation control model of this robot was developed by assembling the inverse and forward kinematics models，the input model and single-drive-control model based on joint space control method. Especially，the accuracy of single-drive-control model was verified via experiment. Subsequently，based on the control model the simulations of trajectory tracking control were implemented in the modelof MATLAB/Simulink. The results indicate that the proposed control model can achieve satisfactory performance and accuracy，which validates the feasibility of the proposed model and control scheme. Thus，it provides an effective approach for trajectory tracking control of this robot
%K 足底驱动
%K 下肢康复机器人
%K 高速开关阀
%K 气动人工肌肉
%K 轨迹跟踪
%K 关节空间控制&lt
%K br&gt
%K foot-plate-based drive
%K lower-limb rehabilitation robot
%K fast switching valve
%K pneumatic artificial muscle
%K trajectory tracking
%K joint space control
%U http://journals.tju.edu.cn/zrb/oa/darticle.aspx?type=view&id=201805001