智慧型復健機械手臂控制器設計

隨著高齡化社會的來臨，機器人將被廣泛應用於照護服務範疇上，做為復健輔具用途時，常面臨複雜的控制問題。本文結合智慧型輸入估測法與線性二次調節器控制技術提出智慧型復健機械手臂控制器設計，此設計具備動態負載估測能力及強健性能的控制系統，復健機械手臂系統在面臨未知系統變異與外界動態負載輸入的狀況下仍能保持高性能的控制效益。以下肢復健機械手臂關節控制系統為研究對象，在無力矩感測元件進行負載估測，經由模擬驗證結果，智慧型輸入估測法能有效估算及掌握動態負載狀況；線性二次調節器控制理論則具有對系統參數變動的靈敏度低及抗外來高頻負載干擾之特性，可提升控制器的控制性能，患者將獲得更舒適的復健過程。

關鍵字

復健機械手臂；輸入估測法；線性二次調節器

並列摘要

With the advent of an aging society, robots will be widely used in the context of care services and the functional requirements of robots as rehabilitation aids will face complex control problems. Therefore, improved smart rehabilitation robot arm controller design is necessary. In this paper, a combination of an intelligent input estimation method and linear quadratic regulator (LQR) control technology is used to design robot arms systems with dynamic load estimation capability and robust performance of the control system to address the need for a rehabilitation robot arm system to maintain high-performance and effective control in the face of unknown variations in the system dynamic load from the outside world. A lower limb rehabilitation robot arm joint control system can be thought of as an example. The intelligent input estimation method can effectively estimate and grasp the dynamic load conditions based on the validation results of the simulation which allows accurate load estimation without torque sensing equipment. LQR control theory is not overly sensitive to changes in system parameters and exhibits the ability to deal with foreign high-frequency disturbances; this improves the performance of the controller and its ability to maintain adequate control so the patients will become more comfortable during the rehabilitation process.

並列關鍵字

Rehabilitation robot arm ； Input estimation method ； Linear quadratic regulator

參考文獻

Beny, L., Griesmar, R. (2002). Device for Producing Continuous Passive Motion. U.S. Patent No. 0045844.

Eom, K. S., Suh, I. H., Chung, W. K. (2001). Disturbance observer based path tracking control of robot manipulator considering torque saturation. Mechatronics 11(3), 325-343. doi: 10.1016/S0957-4158(00)00021-0

Rajashekara, K. S., Kawamura, A. (1994). Sensorless control of permanent magnet AC motors. IEEE IECON proceeding, 3, 1589-1594. doi: 10.1109/IECON.1994.398051

King, B. B., Hovakimyan N., Evans, K. A., Buhl, M. (2006). Reduced order controllers for disturbuted parameter systems: LQG balanced turncation and an adaptive approach. Mathematical and computer modeling, 43(9-10), 1136-1149. doi: 10.1016/j.mcm.2005.05.031

Tuan, P. C., Lee, S. C., Hou, W. T. (1997). An efficient on line thermal input estimation method using kalman filter and recursive least square algorithm. Inverse problems in engineering, 5(4), 309-333. doi: 10.1080/174159797088027665

國際替代計量

智慧型復健機械手臂控制器設計

全文下載

主題瀏覽