康复机器人上肢传递系统的周期稳态与自主控制

摘要

This paper investigates the period steady-state and autonomous control of the upper limb transfer system of rehabilitation robots. By using timed event graph and max-plus algebra,the mathematical model of the transfer system is established. The period formula,range of disturbance estimation and strategy of autonomous control are presented,and the robust stability with respect to the parameter perturbation is analyzed. The disturbance estimation of the period steady state can be used to improve the accuracy and compliance of the upper limb rehabilitation robot work,and the strategy of autonomous control is beneficial to ensure the real-time and safety of the robot work.The proposed estimation and control methods are easy to implement and can help to design,control and optimize the intelligent auxiliary system of the upper limb transfer movement of rehabilitation robots.%研究康复机器人上肢传递系统的周期稳态和自主控制.运用计时事件图和极大–加代数方法,建立康复机器人上肢传递系统的数学模型,给出传递系统的周期计算公式、周期稳态的扰动估计范围和自主控制策略,并分析周期稳态相对于参数扰动的鲁棒性.周期稳态的扰动估计可用于提高上肢康复机器人工作的精确性和柔顺性,而自主控制策略有益于保证上肢康复机器人工作的实时性和安全性.扰动估计和自主控制方法易于计算,并有助于上肢康复机器人传递运动智能辅助系统的设计、控制和优化.