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目的为实现辅助起立机器人对不同期望轨迹规划和追踪,辅助患者完成起立训练,提出轨迹追踪与梯形速率相结合方法。方法分析辅助患者起立受力情况,推导患者在机器人辅助起立时力与力矩平衡方程,并根据期望轨迹插值点、末端执行器运动速率以及当前位置点,推导辅助起立机器人轨迹追踪算法,利用Simulink/Stateflow软件建立仿真平台。搭建Xpc目标机、主机、起立机器人和三维运动分析系统试验台,对直线和任意曲线以及患者起立轨迹和速率进行测试。找出影响追踪轨迹速率和精度的参数以及梯形速率与患者起立速率差异。结果实现了辅助起立机器人对不同轨迹精确位置追踪,起立运动轨迹和梯形速率均满足患者起立速率要求,可实现患者对不同运动轨迹和速率要求。结论轨迹追踪算法结合梯形速率可实现辅助起立机器人对直线、规则或不规则曲线较高精度追踪,辅助患者实时在线起立训练,考虑患者起立轨迹、速度和加速度差异而搭建的模拟和试验平台可更为有效地辅助起立。
Aim To realize the planning and tracking of different desired trajectories by auxiliary raising robot and assist the patients to complete standing training, a method of combining trajectory tracking with trapezoidal rate is proposed. Methods The assisting patients’ standing force was analyzed, and the equation of force and moment balance was derived when the robot was aided, and the trajectory tracking algorithm was derived based on the expected trajectory interpolation point, end effector velocity and the current position. Simulink / Stateflow software to create a simulation platform. Build Xpc target machine, host machine, standing robot and three-dimensional motion analysis system test bed, test the straight line and arbitrary curve and patient’s standing track and speed. Find out the parameters that affect the velocity and accuracy of the tracking trajectory and the differences in trapezoidal rate and patient standing rate. As a result, the accurate position tracking, standing motion trapezoid and trapezoidal velocity of auxiliary lifting robot for different trajectories can meet the requirements of patients’ rising velocity and realize the requirements of patients for different trajectories and velocities. Conclusions The trajectory tracking algorithm combined with the trapezoidal rate can achieve higher precision tracking of a straight line, regular or irregular curve assisted by the auxiliary rising robot, assist the patient to get upright in real time and train the simulation, and the simulation and test platform set up considering the difference of the standing trajectory, velocity and acceleration of the patient may be more To effectively assist in standing up.