Control Study on Gait Movement of Exoskeleton Robot Based on FCPID Controller
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.
NETL
NSTL
万方数据
维普
