Research On Data-driven Control Method Of Rehabilitation Robot In Human-robot Cooperative Environment

The aging of population and various diseases make patients with walking disability increase year by year,so the rehabilitation robot has been widely developed,and its trajectory tracking has become the focus of research.At present,there have been many research results on the trajectory tracking control of rehabilitation robots.However,these research results have ignored the impact of uncertain factors of human-robot cooperation environment on the system during the cooperation training between patients and robots,and most controllers are designed based on the mathematical model of rehabilitation robots.However,the unmodeled dynamics in the model will lead to the actual tracking accuracy of the system being not ideal.There are also some studies on data-driven control of rehabilitation robots,but these studies do not consider the system speed and input force constraints.In view of the above problems,this thesis studies the data-driven control method of rehabilitation robot in human-robot cooperation environment.The main contents include:A dynamic model of the rehabilitation robot in human-robot cooperative environment was established considering the uncertainty factors in the cooperative training between patients and the rehabilitation robot.Furthermore,the equivalent data model was established according to the input and output data of the system,so as to obtain the intuitive correspondence between the rehabilitation robot dynamics model and the data model,and to clarify the physical significance of the parameters in the data model,laying the groundwork for the subsequent controller design.Based on the data model of the rehabilitation robot in human-robot cooperation environment,a data-driven observer was established to estimate the human-robot cooperation environment,and the convergence of the observer was analyzed.A dual-loop data-driven controller with PD as the outer ring and model-free adaptive controller as the inner ring is designed.The stability of bounded input and bounded output of the system is analyzed.The effectiveness of the observer and controller is verified by MATLAB simulation.In order to further improve the safety performance of the rehabilitation robot system,the speed constraint and input force constraint of the system were realized by the saturation function method.The observer and controller were redesigned under the constraint condition,and the convergence of the observer and the stability of the system were analyzed.The MATLAB simulation shows that the designed controller can constrain the system speed and input force within the specified range under the human-robot cooperation environment,and can still track the specified trajectory accurately.