Control of SEA Modular Joint for Rehabilitation Exoskeleton Based on Modified Model Predictive Control
文献类型：会议论文
| 作者 | Chen WX(陈万鑫)1,2,3; Zhang B(张弼)1,2 ; Yao J(姚杰)1,2; Zhao XG(赵新刚)1,2
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| 出版日期 | 2021 |
| 会议日期 | July 27-31, 2021 |
| 会议地点 | Jiaxing, China |
| 页码 | 527-532 |
| 英文摘要 | The lower limb rigid rehabilitation exoskeleton is research emphasis in lower limb disability assistance and rehabilitation. Modular joints integration in exoskeleton provides high-efficient human-robot interaction. However, it is difficult to achieve miniaturization of structure design. Meanwhile, the lack of constraint design in control makes it difficult to meet the requirements of interaction. A novel SEA modular joint is proposed and the related control problem under constraints are established in this paper. Benefited from interval switching strategy, the proposed SEA modular joint has variable stiffness characteristics while the control complexity introduced by nonlinearity is reduced. On the control of SEA modular joint, the framework of model predictive control (MPC) is applied. The iterative linearization is presented to resolve the nonlinearity of system and the modified cost function in MPC is presented to achieve the prescribed degree of stability. The trajectory tracking and disturbance experiments are conducted. The results show that the proposed method can realize the tracking of reference trajectory while satisfying control constraints. The controller can reject disturbance effectively and modified cost function enhances MPC performance significantly. © 2021 IEEE. |
| 源文献作者 | IEEE Robotics and Automation Society ; Shenyang Institute of Automation CAS ; Shenzhen Academy of Robotics |
| 产权排序 | 1 |
| 会议录 | 2021 IEEE 11th International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2021
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| 会议录出版者 | IEEE |
| 会议录出版地 | New York |
| 语种 | 英语 |
| ISSN号 | 2642-6633 |
| ISBN号 | 978-1-6654-2527-8 |
| 源URL | [http://ir.sia.cn/handle/173321/29939]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 通讯作者 | Chen WX(陈万鑫) |
| 作者单位 | 1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China 2.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China 3.University of Chinese Academy of Sciences, Beijing, China |
| 推荐引用方式 GB/T 7714 | Chen WX,Zhang B,Yao J,et al. Control of SEA Modular Joint for Rehabilitation Exoskeleton Based on Modified Model Predictive Control[C]. 见:. Jiaxing, China. July 27-31, 2021. |
入库方式： OAI收割
来源：沈阳自动化研究所
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