基於人工肌肉之復健機器手的設計建模與控制

本研究的目的為發展一套復健機器手臂系統來幫助病患的復健任務。為了設計一組復健機器手使其可執行復健任務取代物理治療師的工作，本研究參考SCARA型之手臂的型式，設計一新型基於氣動人工肌肉缸之復健機器手。透過反向運動學計算將復健軌跡轉換至關節角度軌跡，接著運用軌跡追蹤控制器執行關節角度的追蹤命令，達到定位控制的目的。由實驗中發現氣動人工肌肉缸因結構關係將產生非常複雜的摩擦力問題，因此本研究透過一個雙肌肉缸平台探討氣動人工肌肉缸的摩擦力特性，並提出利用P-I模型建立壓力對應長度的遲滯模型來取代傳統力量對應長度的遲滯模型。為了驗證本研究所提出之模型，本研究採用Bouc-Wen模型來進行比較P-I模型的效果。透過不同控制策略使用於雙肌肉缸的實驗平台之追蹤控制效果，其結果顯示，順滑模態回授控制器結合反向P-I模型作為前饋控制器，其結果明顯的改善系統的追蹤控制效果。為了使執行復健任務將更為有效，由本研究透過P-I前饋控制器、計算力矩法與順滑模態控制器補償復健機器手的慣性、科氏力、重力及非線性摩擦力問題，透過實驗結果亦證明控制器的效果。針對復健任務的被動模式，使用者在根據所規劃之軌跡方向自主移動，在移動過程中，復健機器手將於圓軌跡上施予一指定之扭力，透過實驗驗証本研究所開發之復健機器手於被動模式下的可能性。

關鍵字

復健機器手；計算力矩法；順滑模態控制器； P-I模型； Bouc-Wen模型

並列摘要

The main purpose of this study is to develop a rehabilitation robot system to help patient perform rehabilitation tasks. In order to design a rehabilitation robot to replace physical therapists, this study refer SCARA type robot to design, and modify a novel PAMs based robot arm. Using inverse kinematics to turn rehabilitation task into joint trajectory, and then apply trajectory tracking controller to tracking joint command to achieve position control. From the experiments discover PAM has complex nonlinear friction problem, this study setup a double PAMs stage to discuss its nonlinear friction character. And present a P-I model to describe pressure/length hysteresis model to replace traditional force/length hysteresis model. In order to verify P-I model performance, Bouc-Wen model be used for comparison. By different control strategies in double PAMs stage, the result show sliding-mode control with P-I feedforward controller significantly improve system tracking control effect. In order to execute rehabilitation task effectively, this study employ P-I feedforward controller, computed torque and sliding-mode controller to compensate rehabilitation robot feature, which including inertia, Coriolis force, gravity and nonlinear friction. For passive mode, this study design a system which allow user to hold on robot end effect to move, and finally the system be verified by experiment.

並列關鍵字

Rehabilitation Robot ； Computed Torque ； Sliding-Mode Control ； P-I Model ； Bouc-Wen Model

參考文獻

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基於人工肌肉之復健機器手的設計建模與控制

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