Research On Compliance Control Algorithm Of Intelligent Walking-aid Robot

With the increase of age,the body function gradually declines,and it is difficult for the elderly to walk.Especially in the context of the accelerated population aging,it is especially important to help the elderly to walk independently.In recent years,how to use intelligent walking-robot to assist the elderly to walk has become a research hotspot at home and abroad.The intelligent walking-aid robot is a tool that combines robot technology with a traditional wheeled walker to assist the elderly in walking.In the research of intelligent walking-aid robot,the control strategy of intelligent walking-aid robot is the key to better assist user to walk when using walking-aid robot.Aiming at the control strategy of intelligent walking-aid robot,this paper mainly studies the compliance control of intelligent walking robot.The walking-aid robot compliant control target means that the walking-aid robot can adjust accordingly on the basis of the change of human-robot interaction to comply with user control.In order to realize the compliant control of the intelligent walking-aid robot,this paper considers the passive walker that can be well controlled by the user as reference,and realizes the compliance of the intelligent walking-aid robot by referring to the model reference adaptive control.The main research content of this paper is divided into three parts.Firstly,the structure of the walking-aid robot studied in this thesis is introduced in detail.According to the structure of the walking-aid robot,the mechanism of the walking-aid robot is analyzed,and the kinematics and dynamics model of the intelligent walking-aid robot are established.The kinematics modeling of the intelligent walking-aid robot reflects the change of the robot's position in space.The dynamics of the intelligent walking-aid robot reflects the relationship between the force of the robot and the motion state of the robot.In order to fully consider the force of the walking-aid robot and analyze the motion state of the walking-aid robot,this paper will analyzes the force of the intelligent walking-aid robot through the three-view angle and the dynamic equations are organized into Lagrangian standard form to describe the relationship between the external force and the motion state of the walking-aid robot..Secondly,the walker data acquisition platform is built by installing the sensor detecting human-walker interaction information on the walker,and information of the human-walker interaction and the walker movement attitude are monitored and stored by the host computer software designing.Finally,the human-walker interaction information is analyzed in detail,and the movement state of the walker when the user uses the walker to study how the mobility walking-aid robot can move to meet the user's walking needs.Finally,the intelligent walking-aid robot compliant controller design is completed with the model reference adaptive control.In the controller design process,the mechanism analysis of the walker is firstly carried out,the reference model of the walking-aid robot is established,and then the controller design is completed based on the gradient law adaptive law.Finally,the correctness of the reference model and the facilitation of the robot are achieved.The effectiveness of the control algorithm is verified.The experimental results show that the reference model of the walking-aid robot has certain accuracy,and the adaptive control algorithm of the walking-aid robot is also effective.