摘要
根据训练时患肢力和位置等测量信息,提出了一种用解超定方程组的方法来辨识患肢的动力学参数,以实现患肢动力学模型的在线辨识。仿真结果表明该方法患肢动力学参数辨识效果良好,在一定的噪声环境下具有较强的鲁棒性,可用于康复训练机器人系统的患肢动力学参数辨识,为实际康复训练机器人系统的实时控制提供了较准确的依据。
A new kinetics parameter identification algorithm was brought by solving over-determined equations, according to the training limb＇s position and force measuring information. The simulation results showed the effectiveness of the methods and its robustness under a certain noise environment. By using this parameter identification algorithm, reliable information can be provided for thereal-time control of rehabilitation training robot system.
出处
《安阳工学院学报》
2011年第6期39-43,共5页
Journal of Anyang Institute of Technology
关键词
康复训练
患肢
参数辨识
超定方程
Rehabilitation training robot
damaged limbs
parameter identification
overdetermined equation
