Design of control system for elderly-assistant & walking-assistant robot based on fuzzy adaptive method

摘要

Elderly-assistant & Walking-assistant robot is a kind of robot system which can be guided by intentions and driven by power. Its purpose is to provide physical support and walking assistance for the elderly to meet their needs of walking autonomy, friendliness, and security. Based on the requirements of the walking-assistant robot, the control system should be adapt to different road conditions and achieve high precision, so, a robot control system based on TMS320F2812 is designed in this paper, including its hardware and software design. Then, a moving control method including the Fuzzy adaptive control algorithm is presented for the walking-assistant robot to realize some different moving properties. At last, by the experimental verification in the walking-assistant robot, the research results show that the whole control system has a good feasibility and adaptability.