Research on Compliance Control of a Series-Parallel-Hybrid Upper Limb Rehabilitation Robot
As the number of stroke patients in our country continues to increase,robotics technology will be widely used in reha-bilitation training for stroke patients,and rehabilitation robots have requirements for the flexibility of robots for coordination and safety when man-machine coupling.Aiming at this problem,a control method was designed with a series-parallel hybrid upper-limb rehabilitation robot as the research object.First,the Lagrangian method is used to model the dynamics of the rehabilitation robot,and then the interaction relationship between human and machine forces is established based on the admittance principle,and then the sliding mode control is designed on the basis of the dynamics to perform the desired trajectory Fuzzy control is tracked and introduced to reduce chattering of sliding mode control.Finally,the stability of sliding mode control is verified.Fi-nally,through Simulink simulation,the effectiveness of the control method is verified.Analyzing the simulation results,it is found that under this control method,the smaller the admittance parameter,the smaller the training intensity and the better the flexibility of the control.
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