Research On 3D Modeling And Control Method Of Omnidirectional Mobile Rehabilitation Training Robot

Because of the total population of China is very large,in the future for a long period of time,amount to the elderly population in China will be more than other countries around the world,so the aging problem is very serious.In addition,the physical inflexibility of the elderly greatly reduces their ability to enjoy the life in their old ages,and imposes a greater burden on their children and society at the same time.To help people suffering from lower extremity dyskinesia,enhance their motor functions,improve their abilities to take care of themselves and give them maximum confidence to return to society.It is needed to carry on the scientific and effective lower limb training to them.It is in this context that the thesis topic is carried out.Therefore,it is significant to accurately model and design an effective controller for the omnidirectional mobile rehabilitation robot.Omnidirectional mobile rehabilitation training robot is a kind of complex system with strong coupling,very low linearization and easy to be affected by external factors.The errors in mechanical manufacturing of omnidirectional mobile robot system,the weight and moment of inertia of the robot itself,the uncertainty of the outside world,the relative movement between the omnidirectional wheel and the ground,and vibration of mechanical structure will affect the motion of robot.In particular,the important factors such as the height,the weight and the different position of trainer that can affect the training of omni-directional mobile rehabilitation robot largely.The main research work of this thesis is(1)establishing the 3D model of omni-directional mobile rehabilitation robot,including two situations:considering and no considering.(2)designing a fuzzy adaptive PD controller for the practical model of omni-directional mobile rehabilitation robot.An effective control strategy for fuzzy adaptive PD controller is proposed based on the equality relation between matrices in the 3D robot system model.The validity and accuracy of the fuzzy adaptive PD control method is proved by comparing with the robust adaptive controller.(3)Construction of the Experimental platform for omnidirectional Mobile Rehabilitation training Robot and the experiment of path tracking Control.An experimental platform based on the omnidirectional mobile robot prototype,upper computer and indoorpositioning system.The 3D model and the robust adaptive controller and fuzzy adaptive PD controller designed in this thesis are studied experimentally for linear trajectory tracking control with or without angle change.The experimental results verify the feasibility of the motion control strategy designed in this thesis.