向后辅助站立机器人的插补运动控制

摘要

In order to make the auxiliary standing process conform physiological structure and psychological needs of human body, the motion control of auxiliary standing robot has been studied. In accordance with normal human standing process, the trajectory of the center of gravity for backward auxiliary standing is planned, and the adjustable seat style mechanical structure and standing weight reduction system is constructed. By adopting point▬to▬point comparison interpolation technology, the interpolation motion controller for robot is designed. The prototype in test can assist human body in different weight and height to stand, the auxiliary process meets the humanization requirements. The result of experiments verifies the feasibility of the design.%为使辅助站立过程符合人体的生理结构和心理需求，针对辅助站立机器人的运动控制进行了研究。对照正常人体站立过程，规划了后向辅助站立的人体重心轨迹，构建了可调座椅式机械结构和站立减重系统。采用逐点比较插补技术，设计了机器人的插补运动控制器。试验中样机可辅助不同身高和体重的人体站立，辅助过程符合人性化要求。试验结果验证了设计方法的可行性。