摘要
外骨骼关节驱动电机使用区别于常规需要对应情况长时间调参的普通PID控制器,以可自适应的神经网络PID控制器为核心控制方法。使用STM32F103RCT6作为外骨骼机器人的局部控制器,OrangePi PC为高性能核心控制器,使用nRF24L01、WH148 B10K、HX711、肌电传感器、AB相编码器、MPU9250、ACS712等模块分别实现各区间2.4 GHz无线/CAN(controller area network,独立控制器局域网络)有线通信、关节角度采集、足底压力采集、EMG采集、整体姿态采集和电源信息采集。该外骨骼机器人将使用高性能的锂电池组作为能源,整体机械结构使用SolidWorks对各部分关节等结构进行设计和建模,并考虑加工成本和难度问题,使用3D打印和钻铣等加工方式完成各零件加工。在算法中使用基于肌电信号(electromyogrsphy, EMG)、零力矩点(zero moment point, ZMP)步态稳定性判据和惯性测量单元(inertial measurement unit, IMU)作为主动控制器的核心,并在单片机程序底层中实现类分时操作系统,各分区使用带校验数据帧的通信方式。经开发验证,该设计可行并方便模块化升级改进。
The exoskeleton joint drive motors use the PID controller which is different from the common PID controller which needs to adjust parameters for a long time,and takes the adaptive NN-PID(neural network PID)as the core control method.STM32F103RCT6 is used as the local controller of exoskeleton robot,OrangePi PC is the high-performance core controller,nRF24L01,WH148 B10K,HX711,EMG sensor,AB phase encoder,MPU9250,ACS712 and other modules are used to realize the 2.4 GHz wireless/CAN(controller area network)cable communication,joint angle collection,plantar pressure collection,EMG collection,AHRS and power information collection.The exoskeleton robot uses the high-performance lithium battery as the energy source,and its whole mechanical structure uses SolidWorks to design and model the joints and other parts of the exoskeleton.Considering the problem of processing cost and difficulty,the 3D printing,drilling and milling and other processing methods are used to complete the processing of each part.In the algorithm,electromyography(EMG),zero moment point(ZMP)stability criterion and inertial measurement unit(IMU)are used as the core of active controller,and the class time-sharing operating system is implemented in the underlying MCU program.The communication mode with check data frame is used in each partition.It is proved that the design is feasible and convenient for modular upgrading.
作者
游博洋
王险峰
赵玲
李龙
逄万山
党志强
YOU Bo-yang;WANG Xian-feng;ZHAO Ling;LI Long;JIANG Wan-shan;DANG Zhi-qiang(School of Computer and Information Technology,Northeast Petroleum University,Daqing 163318,China)
出处
《计算机技术与发展》
2021年第5期1-6,共6页
Computer Technology and Development
基金
2019年黑龙江省大学生创新创业训练计划项目(201910220040)
大庆市科学计划项目(zd-2019-21)。
