FORCE/POSITION CONTROL STRATEGY OF 3-PRS ANKLE REHABILITATION ROBOT

被引：5

作者：

Chen, Guoqiang ^{[1
]}

Zhou, Hongpeng ^{[1
]}

Yang, Pengcheng ^{[1
]}

机构：

[1] Henan Polytech Univ, Sch Mech & Power Engn, 2001 Century Ave, Jiaozuo 454003, Henan, Peoples R China

来源：

INTERNATIONAL JOURNAL OF INNOVATIVE COMPUTING INFORMATION AND CONTROL | 2020年 / 16卷 / 02期

基金：

中国国家自然科学基金;

关键词：

Ankle rehabilitation robot; Kinematics; Force/Position control; Position control; Impedance control; PARALLEL ROBOT; DESIGN;

D O I：

10.24507/ijicic.16.02.481

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

Aiming at the control requirement of simultaneous position and force of the ankle rehabilitation robot, a prototype of the 3-PRS ankle rehabilitation robot and its force/position control strategy are proposed based on impedance control. The structural design and kinematics analysis of the 3-PRS ankle rehabilitation robot are carried out. The proposed force/position control strategy combines organically position control and impedance control. The design process of the impedance controller and its parameter is presented. The proposed control strategy is verified by simulation experiments. The influence of different impedance values on the whole impedance control system is studied based on the simulation results. Finally a force/position control strategy with real-time weight setting is further proposed, which makes the 3-PRS ankle rehabilitation robot achieve more reasonable control effect in the process of flexibility control.

引用

页码：481 / 494

页数：14

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