Design of adaptive compliance control algorithm for upper limb exoskeleton rehabilitation robot

摘要

In order to improve the compliance and accuracy of upper limb exoskeleton rehabilitation robot system, this paper proposes an algorithm of adaptive compliance control combining admittance control and adaptive global fast terminal sliding mode control(AGFTSMC). Firstly, The exoskeleton platform and the control system consisting of the hardware system and software system are introduced. Secondly, The dynamic model and admittance control model of the robot system is established, and the adaptive global fast terminal sliding mode controller is designed. Thirdly, The stability of the system is proved by Lyapunov theory. Finally, the experiments of both passive mode and active mode are designed. The variation characteristics of trajectory tracking deviations, human-computer interaction forces and dynamic parameter estimation are compared and analyzed. The experimental results verify the effectiveness of the adaptive compliance control algorithm.