Tehnički vjesnik, Vol. 27 No. 3, 2020.
Izvorni znanstveni članak
https://doi.org/10.17559/TV-20191031023126
Admittance Control of Four-link Bionic Knee Exoskeleton with Inertia Compensation
Fei Li
; School of Information Science and Engineering, Shenyang University of Technology, Shenyang 110870, China
Qingdong Wang
; School of Mechanical Engineering and Automation, Northeastern University, Shenyang 110819, China
Yao Xie
; School of Mechanical Engineering and Automation, Northeastern University, Shenyang 110819, China
Hualong Xie
; School of Mechanical Engineering and Automation, Northeastern University, Shenyang 110819, China
Sažetak
This paper proposes a control algorithm based on the admittance principle for the motion of the four-link bionic knee exoskeleton. Firstly, the interaction between the operator and the exoskeleton was converted into the desired trajectory of the exoskeleton. Then, the inertia compensation is achieved in light of the admittance features of exoskeleton movement. Finally, the validity of the admittance control method for four-link bionic knee was confirmed through simulation experiment. The simulation results show that the relative error of the joint angle between the operator and the exoskeleton was less than 5% at normal swinging frequency, and the interaction force between the manipulator and the exoskeleton was within ±0.5 N. The research findings lay a theoretical basis for practical application of exoskeletons.
Ključne riječi
admittance control; exoskeleton; four-link bionic knee; inertia compensation
Hrčak ID:
239099
URI
Datum izdavanja:
14.6.2020.
Posjeta: 1.582 *