| The pneumatic muscle actuator (PMA) is a kind of new drive component with characteristics of light weight, big initial force, good flexibility and security. It has properties similar to biological muscles and gets special attention in the field of rehabilitation medical. In this paper we mainly discuss the establishment of the static model of the pneumatic muscle actuator and the static model of the rehabilitation robot joint driven by PMA, design of a fuzzy controller for position control of rehabilitation robot joint, and design of an embedded control system based on the STM32. The major research of this paper includs:First, this paper describes experimental platform and data acquisition of the MAS-20, a pneumatic muscle actuator produced by FESTO. Based on the data we get static model of MAS-20 pneumatic muscle actuator and its static stiffness model. And further we get static model and static stiffness model of rehabilitation robot joint driven by the MAS-20.Secondly, by analyzing of the characteristics of the rehabilitation robot joint, this paper proposes fuzzy control strategy for the joint position control. The design of the fuzzy controller is completed with the help of fuzzy control toolbox of Matlab.Thirdly, functions needed by embedded controller for rehabilitation robot are studied. Based on the function analysis, hardware overall design of the embedded controller, as well as detailed design and implementation of the major functional modules, is completed. Specific circuit design schematic of each module is shown in this paper.Finally, design of the embedded control system software is discussed. The software developed includs: system software such as system initialization, security and surveillance; control module such as AD programming, DA programming, fuzzy control programming; transplantation of the file system FatFS for information storage module; communication module such as serial communication programming and transplantation of network communication protocol stack uIP. |
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