Human-machine intelligent robot system control based on study algorithm

摘要

Based on the human-machine intelligent robot system of lower extremity carrying exoskeleton, the new control method is provided, where the virtual torque control is improved. The exoskeleton model is built using SimMechanics in Matlab. The dynamics mathematics model is gotten by study the human walking to construct the controller. The controller in virtual torque control uses nonlinear direct force control while not PID control. The control law presented in this paper simplifies the controller design and not making use of any information about the operator or of any of the mechanical characteristics of the human-machine interface. The most important of this method is the mass properties need not be identified, which overcomes the maximum defect of the virtual torque control. Simulation results show the valid of the given method.