上肢康复机器人主动轨迹追踪控制方法的研究

摘要: 针对上肢康复机器人在主动康复模式下，末端手部工具的TCP点如何能保持有效追踪给定空间平面内的轨迹，提出了一种空间容差约束控制方法。通过约束TCP距轨迹平面的正负向距离，同时约束其在轨迹面内距离轨迹的正负向距离，产生约束的末端阻力正比于TCP偏离给定轨迹的距离，引导TCP点始终落在轨迹的容差体内。在控制实现上采用了多线程编程技术，以确保患者手部TCP点偏差距离的检测、计算与比较，以及关节力矩实时改变的控制等过程，不会出现感知上的延迟。实验结果表明，该控制方法在辅助患者主动追踪给定的空间平面轨迹时，达到了预期的效果。
- 康复机器人 /
- 主动运动 /
- 空间容差约束控制 /
- 多线程编程
Abstract: A control algorithm referred to as Space Tolerance Constrain Control (STCC) was proposed for active training on an upper limb rehabilitation robot. The STCC can automatically restrict the robot's TCP, which pose was determined by trainee, not to go outside the tolerance volume wrapping a given trajectory. The tolerance volume consists of two planes, which are parallel to the trajectory plane and located on both sides of the one, and two surfaces to be perpendicular to the trajectory plane, which go through two offset curves on both sides of the trajectory. The restriction strength is proportional to the deviation of TCP from the given trajectory. Once the TCP goes unexpectedly outside the tolerance volume, the STCC can quickly switch the active control mode into the passive to drive the TCP to a point on the trajectory. For the reason of real-time sensing in the process of training, the multi-thread technique was used in programming. Finally, the desired control results were arose from experimental operations.
- rehabilitation robot /
- active motion /
- space tolerance constraint control /
- multi-threaded programming

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图 1 康复机器人、患者与轨迹平面的关系

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图 2 坐标系与平面轨迹

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图 3 用于设定轨迹的空间平面集

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图 4 轨迹平面与轨迹方程

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图 5 主动轨迹追踪约束容差体的实现

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图 6 方位约束容差体截面示意图

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图 7 方位约束算法空间示意图

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图 8 重定位算法空间示意图

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图 9 主动轨迹追踪控制算法流程图

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图 10 各线程编程实现的框架

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图 11 上肢康复机器人

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图 12 机器人关节坐标系

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图 13 xoy轨迹平面建立空间示意图

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图 14 主动轨迹追踪控制实验仿真结果

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表 1 初始位置D-H参数表

连杆i	θ_i /(°)	d_i /mm	a_i /mm	α_i /(°)
0-1	θ₁	0	0	0
1-2	θ₂	0	0	α₂
2-3	θ₃	0	a₃	0
3-4	θ₄	0	a₄	0
4-5	θ₅	d₅	0	α₅
5-6	θ₆	d₆	0	α₆
6-7	θ₇	d₇	0	0

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