外骨骼
控制理论(社会学)
弹道
控制器(灌溉)
自适应控制
李雅普诺夫函数
导纳
滑模控制
终端滑动模式
Lyapunov稳定性
机器人
控制工程
工程类
控制系统
计算机科学
理论(学习稳定性)
模拟
控制(管理)
人工智能
非线性系统
农学
物理
电气工程
电阻抗
天文
量子力学
机器学习
生物
作者
Xiao Yuan,Tong Zhou,Junjie Ji,Yuxuan Liu,Wendong Wang,Fangfang Yue
标识
DOI:10.1109/cac53003.2021.9727655
摘要
In order to improve the compliance and accuracy of upper limb exoskeleton rehabilitation robot system, this paper proposes an algorithm of adaptive compliance control combining admittance control and adaptive global fast terminal sliding mode control(AGFTSMC). Firstly, The exoskeleton platform and the control system consisting of the hardware system and software system are introduced. Secondly, The dynamic model and admittance control model of the robot system is established, and the adaptive global fast terminal sliding mode controller is designed. Thirdly, The stability of the system is proved by Lyapunov theory. Finally, the experiments of both passive mode and active mode are designed. The variation characteristics of trajectory tracking deviations, human-computer interaction forces and dynamic parameter estimation are compared and analyzed. The experimental results verify the effectiveness of the adaptive compliance control algorithm.
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