Research On The Control System Of Exoxkeleton Robot For Upper Limbs

In the21st century, with the rapid development of society, people’s material life is greatlyimproved, then human-health problems are also increasing. Most of the hemiplegic patientscaused by stroke diseases, it becomes more and more, they cannot provide for themselves thatbrings heavy burden to the family and society. The requirements of the improvement of qualityof life and the attention of the healthy life make some rehabilitation medical equipmentcontinuously emerging. In the present, the combination of the robot technology andrehabilitation medicine engineering is a hot spot problem in domestic and foreign research. Insome medical rehabilitation hospital, patients rely mainly on some simple equipment whentraining that need professional guidance of physician. It can not meet the needs of the intelligent.This paper studied the human upper-limb movement theory in deeply and based on thetheory of medical rehabilitation, combined with exoskeleton industrial robot technology, itdesign a set of upper limb exoskeleton rehabilitation robot. Combined with the present situationof the rehabilitation robot development at home and abroad, combined with mechanical andelectrical control theory, for the purpose of completing the upper-limb rehabilitation trainingbetter, we are studying the control system. The main results are as follows.It introduced the overall scheme for5DOF upper-limb exoskeleton rehabilitation robots. Todetermine the structure of the robot, choose the driving mode of electrical control, choose thestepping motor as drive motor. Compared with the control schemes, it used hierarchical controlsystem.The paper set up the kinematics equation of the upper limb exoskeleton mechanism, itadopts D-H method to derive the robot kinematics and inverse kinematics equations andstructure the Jacobin matrix. Using MATLAB software and Solidworks software association, thepaper set up the SimMechanics model, to do the simulation analysis, compare with the results ofthe calculation to verify the feasibility of the kinematics. The paper also analyses the workspaceof the robots. It laid the foundation of the robot control. The paper plans the trajectory of the upper-limb exoskeleton rehabilitation robotmanipulator end-effector. Including the single joint training trajectory and the eating trainingtrajectory. It adopts the polynomial interpolation method to analysis the eat movement track. Atthe same time, it verified the feasibility of the track. It laid a foundation for extendingrehabilitation robot motion trajectory; it provides an important theoretical basis for thedevelopment of the principal computer.The paper establishes the upper exoskeleton rehabilitation robot control system, based onLabVIEW. It mainly designs the communication system of the hierarchical control system,friendly man-machine interface, the communication program of the lower computer.