A Force/Position Hybrid Controller for Rehabilitation Robot

被引：0

作者：

Hua, J. ^{[1
,2
]}

He, L. L. ^{[1
]}

Kang, Z. Q. ^{[1
]}

Yan, K. D. ^{[2
]}

机构：

[1] Xian Univ Architecture & Technol, Sch Mech & Elect Engn, Xian 710055, Shaanxi, Peoples R China

[2] Xian Technol Univ, Coll Elect Informat Engn, Xian 710021, Shaanxi, Peoples R China

来源：

INTERNATIONAL JOURNAL OF COMPUTERS COMMUNICATIONS & CONTROL | 2019年 / 14卷 / 05期

关键词：

rehabilitation robot; compliance control; Bezier curve; robot operating system (ROS); IMPEDANCE CONTROL;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The growing ageing population in China poses a huge demand for rehabilitation care, which can be satisfied by the latest robot technology. Focusing on the motion system of a six degrees-of-freedom (DOF) robot, this paper explores the relationship between the force, torque, velocity and the postures of the end effector and joint. Drawing on robot control theories, the existing manipulator force/position hybrid controllers were reviewed, and a force/position hybrid controller was designed for path planning of rehabilitation robot. Then, the robot was modelled on the Robot Operating System (ROS), using the Unified Robot Description Format (URDF) file and the Movelt! Setup Assistant. Finally, our controller was tested in the ROS virtual simulation environment. The results show that our controller can facilitate and optimize the design of the path of rehabilitation robot.

引用

页码：615 / 628

页数：14

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