Dynamics Analysis and Control Strategy Simulation of Lower Extremity of Power Assist Robot

被引：0

作者：

Li, Xinjun ^{[1
]}

Mao, Xiwang ^{[1
]}

He, Long ^{[1
]}

Wang, Xinrui ^{[1
]}

机构：

[1] 208 Res Inst China Ordnance Ind, Beijing 102202, Peoples R China

来源：

APPLIED SCIENCE, MATERIALS SCIENCE AND INFORMATION TECHNOLOGIES IN INDUSTRY | 2014年 / 513-517卷

关键词：

assist robot; dynamic; control theory; Lagrange equation;

D O I：

10.4028/www.scientific.net/AMM.513-517.4098

中图分类号：

TU [建筑科学];

学科分类号：

0813 ;

摘要：

Lower Extremity of Power Assist Robot could add the strength and endurance of robotics to a human's innate adaptability to help the wearer transport heavy loads over rough and unpredictable terrain. Dynamics Analysis and Control Strategy Simulation are the important aspects for the researching of the robot. The dynamics equation of Lower Extremity of Power Assist Robot is built by the Lagrange equation. The relationship between the active joint torque of the robot and plantar pressure is established, which support the theoretical foundation for the dynamic control to achieve the desired effect. Base on the analysis of working environment and the mechanical environment of the robot, the force-location control theory is used to control robot, which is simulated based on Simulink blocks of MATLAB to get a better tracking performance.

引用

页码：4098 / 4101

页数：4

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