步態(tài)訓(xùn)練機(jī)器人控制及實(shí)驗(yàn)研究.pdf

1、哈爾濱工程大學(xué)碩士學(xué)位論文步態(tài)訓(xùn)練機(jī)器人控制及實(shí)驗(yàn)研究姓名：王克寬申請(qǐng)學(xué)位級(jí)別：碩士專業(yè)：機(jī)械電子工程指導(dǎo)教師：張立勛20090301哈爾濱T程大學(xué)碩十學(xué)位論文AbstractThetherapytechnologyofrehabilitationaidedbyrobothasgraduallybecomeoneofthehottestsubjectsathomeandabroadGaittrainingrobotbelongstore

2、habilitativerobotandCall’simdate‘thewalking’gaitofnormalhumanondifferentroadconditionstohelppatientstakelowerlimbsrehabilitativetrainingTheprojectmainlyfocusedontheseryocontroltechnologyofgaittrainingrobot，andtheresearch

3、ispracticalThispapersystematicallyoverviewsthedevelopmentsituationandapplicationofthelowerlimbsrehabilitationrobotTogetherwiththemechanismdesignandcontrolmode，itanalyzesthefeasibilityoftheaided—robotforlowerlimbmotorreha

4、bilitationandthewaytealizeitTheconcreteresearchesareasfollows：AccordingastheapplicationobjectsandgaitrehabilitationtheorythedesigntargetandthecontrolsystemschemewereconfirmedThreekindsofgaitorbitstothisrobotwereplanedado

5、ptingcubicsplinemethodbasedonthemeasuredorbits，includingnormalgait，upstairsgaitanddownstairsgait，andtheywerevalidatedthroughkinematicssimulationDynamicsanalysisWascarryoutthroughMATLAB／SimMechanics，andthecontrolalgorithm

6、andthestrategyofrehabilitationrobotwereconfirmedbasedontheanalysisofdynamicsdatagaitsandsystemnonlinearityandthecontrolmodelwasestablished，andthesimulationoftrajectorytrackingcontrolWascardedoutBasedonthedSPACErealtimepl

7、atformTheHILsimulationWasdesignedaccordingtothetheoreticalresearchHeretherobotsystemwaslocatedinthecontrolloopPositioninitializationmodel，limitprotectingmodel，controlmodelactualizingallkindsoftrainingmodeswerealltranslat

8、edintothesimulationmodelsThesemodelswereindependenttoeachotherandrelatedtheSimulinkwiththeRTI，andthesystemWasidentifiedFinallythroughtrainingthehealthysubjectsbyrobot，allkindsoftrainingmodeswereresearched，andtheorbitswer