摘要
为提高外骨骼机器人步态运动控制的稳定性与精度,该文采用高性能直线电机作为执行元件,建立了直线电机高精度动力学模型,搭建了带前馈模型补偿(feedforward compensation)的PID(FCPID)控制器,利用离线步态数据模型进行了仿真实验。实验结果表明,该方法能够快速稳定地跟踪步态运动轨迹并保持较高的跟踪精度,可显著提高步态运动控制效果,适用于外骨骼机器人步态运动控制系统。
In order to improve the exoskeleton robot gait stability and accuracy of motion control,we use the high performance linear motor as executive component,establish the high precision dynamic model of linear motor,design the PID controller with feedforward( FCPID) compensation model and carry out the simulation experiments using off-line gait data model. The experimental results show that the method can fast steady gait tracking trajectory and maintain higher tracking precision. It can significantly improve the effect of gait motion control and it is suitable for the exoskeleton robot gain motion control system.
出处
《自动化与仪表》
2016年第8期15-18,共4页
Automation & Instrumentation
基金
中国科学院合肥研究院院长基金资助项目(YZJJ201521)
常州市科技计划资助项目(CE20140025)
关键词
外骨骼机器人
步态运动
直线电机
动力学模型
FCPID
exoskeleton robot
gait motion
linear motor
dynamic model
feedforward compensation(FCPID)
