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全方向康复步行训练机器人需要跟踪医生指定的训练轨迹、针对运动过程中速度过快而影响康复者安全性问题,提出一种基于Backstepping补偿方法的速度受限型控制器设计方案,目的是保证康复者的安全训练.通过限制实际运动速度的幅值,并根据所提出轨迹跟踪误差和速度跟踪误差的实时补偿方法,实现了全方向康复步行训练机器人在安全速度下的轨迹跟踪.基于李亚普诺夫稳定性理论和La Salle不变性原理,证明了补偿误差系统和跟踪误差系统的渐近稳定性.通过仿真结果对比分析,表明了所提控制器设计方法的有效性和可行性.
Omni-directional rehabilitation walking training robots need to track the doctor’s designated training trajectory, in view of the speed too fast during exercise to affect the safety of rehabilitation, a velocity-limited controller design based on Backstepping compensation method is proposed to ensure rehabilitation By limiting the magnitude of the actual velocity, and implementing the real-time compensation method of trajectory tracking error and velocity tracking error, the trajectory tracking of the omni-directional rehabilitation walking robot at a safe speed is achieved.Based on Lyapunov Stability theory and La Salle invariance principle, the asymptotic stability of the compensation error system and the tracking error system is proved. The comparison and analysis of the simulation results show the effectiveness and feasibility of the proposed controller design method.