摘要
针对下肢外骨骼康复机器人的灵敏度放大控制需要精确逆动力学模型的问题,通过Solidworks软件建立精确的三维实体模型,联合Matlab/SimMechanics建立下肢外骨骼康复机器人的动力学模型,以角度、角速度和角加速度作为输入信号,输出信号为髋、膝关节力矩,进行逆动力学仿真分析。将仿真后的输入输出数据利用BP神经网络进行训练并获得外骨骼逆动力学动态数学模型。仿真结果表明,该方法可以获得下肢外骨骼康复机器人精确的模型,并为进一步的实现外骨骼的灵敏度放大控制提供保证。
For the problem of lower limbs exoskeletons rehabilitation robot sensitivity amplification control needing accurate inverse dynamics model,the accurate three-dimensional entity model is established by Solidworks,and jointed Matlab/ SimMechanics to establish the dynamic model of lower limbs exoskeletons rehabilitation robot,to realize inverse dynamics simulation analysis whose input siguals are angle,angular velocity and angular acceleration,output signals are hip and knee joint torque.After the simulation the input/output data are trained to get exoskeletons inverse dynamics dynamic mathematical model by BP neural network.The simulation results show that this method can get lower limbs exoskeleton rehabilitation robot accurate model,and provide guarantee for further realizing exoskeleton sensitivity amplification control.
出处
《机械设计与制造》
北大核心
2013年第11期197-200,共4页
Machinery Design & Manufacture
