步態(tài)訓練機器人控制及實驗研究.pdf

1、哈爾濱工程大學碩士學位論文步態(tài)訓練機器人控制及實驗研究姓名：王克寬申請學位級別：碩士專業(yè)：機械電子工程指導教師：張立勛20090301哈爾濱T程大學碩十學位論文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