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随着现代康复医学的发展,利用机器人康复训练系统进行神经中枢康复已成为国内外研究的热点之一。所研究的5-DOF上肢康复机器人是一种辅助或替代治疗医师执行患肢康复训练的特种机器人,针对其康复训练的运动特征及机器人特性,提出了5-DOF上肢康复机器人的H?鲁棒重复控制方法。该方法在不确定机器人系统中引入状态反馈把重复控制器设计问题转化为H?状态反馈设计,从而增加系统的鲁棒稳定性又提高了系统的扰动抑制性能和跟踪性能。仿真结果表明,该方法既能够保证系统的稳定运行,且能使系统输出较好地跟踪参考输入,使系统具有鲁棒稳定性,又提高系统的扰动抑制性能和跟踪性能。
With the development of modern rehabilitation medicine, the use of robotic rehabilitation training system for central nervous system rehabilitation has become one of the hot spots at home and abroad. The study of 5-DOF upper limb rehabilitation robot is a kind of special robot that can assist or replace therapist to carry out limb rehabilitation training. According to its rehabilitation training kinematics and robot characteristics, a 5-DOF upper limb rehabilitation robot H-Robust Repeat the control method. This method introduces state feedback into the uncertain robot system and transforms the controller design problem into the H state feedback design, which increases the robust stability of the system and improves the system ’s disturbance rejection and tracking performance. The simulation results show that this method not only guarantees the stable operation of the system, but also makes the output of the system better track the reference input, which makes the system robust and improves the system’s disturbance rejection and tracking performance.