Research On Design And Control Technology Of Upper Limb Exoskeleton Robot Applied To Master Side Of Teleoperation

With the development of society,humans wear exoskeletons to increase their physical limit,train injured limbs,assist walking,and extend the application to remote control operations.Therefore,in the background of aerospace,human beings can remotely control the slave robot through the master exoskeleton human-machine interface equipment to carry out task operation,which can not only transfer the kinematic parameters of the operator's upper limb to the slave robot,but also feed back the environmental information of the slave robot to the operator,so that the operator has a good sense of immersion and presence.In this paper,the design and control technology of the upper extremity exoskeleton robot are studied,aiming at the problems such as high rigidity,heavy weight,poor integration and difficulty in cooperating with people in the current teleoperation research.According to the special design requirements of exoskeleton in the field of teleoperation,the ergonomics research of human upper limb is carried out firstly,so as to clarify the design index of exoskeleton.Based on this,the configuration design of type I ? IV exoskeleton is carried out.Through the analysis of torque calculation,interference inspection and shoulder workspace simulation,a better 7DOF exoskeleton configuration is obtained by comprehensive comparison,which has the advantages of large workspace,good wearing safety and high compatibility with people.In addition,the correctness of the configuration design and the stability of the kinematics algorithm are verified by the whole exoskeleton kinematics simulation,and the Monte Carlo random algorithm is optimized to solve the workspace of exoskeleton robot.Finally,the hardware design is optimized through finite element simulation.In this way,the overall structure design of the exoskeleton robot applied to master side of teleoperation is completed.Due to the existence of assembly errors and joint coupling,it is difficult for exoskeleton robots to obtain real and accurate dynamic parameters.Therefore,based on the consideration of mechanism friction and joint flexibility,this paper completed the dynamic modeling and linearization of the upper extremity exoskeleton robot by Newton Euler iteration method.Subsequently,the process of identifying the dynamic parameters of the upper limb exoskeleton is designed.The recursive least square method and the optimal Fourier excitation trajectory are used to optimize the parameter identification results,and the corresponding motion and moment information is obtained through the simulation of the exoskeleton visual model to obtain the accurate dynamic parameters.In order to meet the requirement of human-machine control in teleoperation,the exoskeleton control strategy is studied to achieve the unobstructed following movement of exoskeleton and human upper limb.Then,by using the torque-base control method and the simulation of the real system,the feedback and feedforward dynamic compensation coordinated control method can achieve a good position following.In addition,considering the actual situation,the exoskeleton and the human body will generate force interaction in addition to position tracking.Therefore,the impedance controller is used to optimize the control method,and the influence of impedance parameters and contact stiffness on the real-time follow effect is analyzed.At last,through the simulation of 7DOF exoskeleton,it is verified that the force-based impedance control method can complete accurate real-time interaction of force and movement with the human upper limb.In response to verify the correctness of the theory and simulation,the physical exoskeleton system is built.Firstly,the correctness of the mechanism design is verified by the experiment of exoskeleton joint and human cooperative movement.Then,the effect of dynamic model and excitation trajectory on the accuracy of parameter identification is explored through single-actuator experiments.Finally,the follow-up experiment of exoskeleton relative to human upper limbs is carried out,and the result shows that the exoskeleton can follow the human upper limb flexibly based on the impedance control method.Therefore,this paper completed the design and control technology research of upper limb exoskeleton robot applied to the master side of teleoperation.