Study Of Lower Extremity Exoskeleton Assistant Robot Control System

The lower limb exoskeleton booster robot is a wearable robot which combines robotics,biosensors,and smart communications technologies.It can be used in military operations as well as in medical rehabilitation and disaster relief.In recent years,as the society enters the aging stage,there are more and more people with sports barriers.The limb exoskeleton assisted robot and its control system in this treatise are designed to help this group to carry out rehabilitation training and even help walking.Based on the understanding of the development of wearable lower limb exoskeleton assist robot at home and abroad,the key technologies and technical difficulties are analyzed and studied,and the research objectives and methods of this treatise are established.In order to complete the whole system of mechanical structure and whole control system,the following work is done in this treatise.(1)Overall design: The structure design and assembly of the lower limb exoskeleton assisted robot are completed according to the characteristics of the movement of the lower limbs,and the overall design of the control system is put forward.(2)By establishing the D-H motion model of the exoskeleton robot for lower limbs,kinematics and dynamics analysis and simulation calculation are carried out,and the system dynamics equation is obtained by Lagrange algorithm.In order to achieve better control of different modes,the trajectory of lower extremities were studied by fitting the data and fitting the motion path of the joints under the condition of motion,so as to provide reference for control signal input.(3)Trajectory planning and tracking of motion information: The robot linkage model was established in MATLAB / Robotics toolbox,and its positive and inverse kinematics analysis was verified.And the tracking and monitoring of the position,velocity and acceleration of the end point of the extremity exoskeleton robot during any position movement are realized.(4)Simulation analysis of control algorithm: Based on the above link model of dynamic model,two control algorithms including the control algorithm and the fuzzy neural network adaptive compensation control algorithm were proposed in this treatise.By adjusting the parameters of the controller,found in a certain error range trajectory theory can track the expected trajectory,which has better antiinterference.(5)Test platform construction: Based on the "Goolgol " embedded motion controller,the control system of the lower limb exoskeleton assisted robot is designed,including the design and distributions of driving system and sensing system.The active and passive control strategies and implementation methods are proposed,which can be applied to the walking aid and medical rehabilitation.Based on the built test platform,the trajectory data were processed by supporting software,and the verification experiments for each joint angle under the passive walking mode were completed,which provides a reference for improving the active control system of the lower limb exoskeleton assisted robot in the later stage.The above work shows that the control algorithm and hardware design scheme basically meet the requirements for further research on the lower limb exoskeleton assisted robot control system.