| 下肢康复机器人动力学建模约束违约抑制 |
| |
| 引用本文： | 徐亚茹,李克鸿,刘佳,刘荣,张建成.下肢康复机器人动力学建模约束违约抑制[J].北京航空航天大学学报,2022,48(4):609-619. |
| |
| 作者姓名： | 徐亚茹 李克鸿 刘佳 刘荣 张建成 |
| |
| 作者单位： | 1.北京联合大学 机器人学院, 北京 100020 |
| |
| 基金项目： | 国家重点研发计划(2018YFB1307001)；;北京市教委科研计划(KM202111417006)；;河北省高等学校科学技术研究项目(QN2020510)； |
| |
| 摘 要： | U-K理论为获得约束多体系统的解析动力学方程提供了新的理念，但由于数值近似和截断误差等因素的影响，动力学方程在位置和速度层面上存在约束违约。Baumgarte约束违约稳定法（BSM）通过约束修正得到稳定的动力学方程。然而，Baumgarte参数的选择通常涉及一个试错过程，可能会出现失效的仿真结果。为此，利用经典的四阶Runge-Kutta法研究了Baumgarte参数选取问题，创建了基于BSM修正后的U-K理论的机器人系统解析动力学方程。以下肢康复机器人为研究对象仿真分析，结果表明:利用所提方法可以有效抑制约束违约，关节角度误差控制在-5×10-3（°）~5×10-3（°）范围内；关节角速度误差控制在-2×10-4~2×10-4 rad/s范围内；机器人末端执行器运行轨迹能够很好地贴近系统预定的目标。
|
| 关 键 词： | U-K理论 约束违约 Baumgarte约束违约稳定法(BSM) Baumgarte参数 下肢康复机器人 |
| 收稿时间： | 2020-11-11 |
Constraint violation suppression for dynamics modeling of lower limb rehabilitation robot |
| |
| XU Yaru,LI Kehong,LIU Jia,LIU Rong,ZHANG Jiancheng.Constraint violation suppression for dynamics modeling of lower limb rehabilitation robot[J].Journal of Beijing University of Aeronautics and Astronautics,2022,48(4):609-619. |
| |
| Authors: | XU Yaru LI Kehong LIU Jia LIU Rong ZHANG Jiancheng |
| |
| Affiliation: | 1.College of Robotics, Beijing Union University, Beijing 100020, China2.College of Mechanical and Electrical Engineering, Shijiazhuang University, Shijiazhuang 050035, China3.Robotics Institute, Beihang University, Beijing 100083, China |
| |
| Abstract: | The U-K theory provides a new concept for obtaining the explicit dynamic equation of constraint multibody system. However, one consequence of the numerical approximation and truncation error is the constraint violation of the dynamic equation at the position and velocity level. Baumgarte's constraint violation stability methods (BSM) provide a stable dynamic equation by constraint modification. Nevertheless, the selection of Baumgarte parameters usually involve a trial-and-error process, which may result in the failure of simulation results. Consequently, the Baumgarte parameters selection problem is studied by using the classical fourth-order Runge-Kutta method, and the explicit dynamic equation of robot system based on the modified U-K theory by BSM is established. Furthermore, the lower limb rehabilitation robot is taken as the research object for simulation analysis. The results show that the constraint violation can be effectively suppressed. The joint angle errors are controlled within the range of -5×10-3(°)-5×10-3(°), the joint angular velocity errors are controlled within the range of -2×10-4 rad/s-2×10-4 rad/s, and the operation trajectory of the robot end-effector can be well close to the predetermined target of the system. |
| |
| Keywords: | |
| 本文献已被 万方数据 等数据库收录！ |
| 点击此处可从《北京航空航天大学学报》浏览原始摘要信息 |
|
点击此处可从《北京航空航天大学学报》下载全文 |
|
