| The stroke is a sudden onset of cerebral blood circulation disorder.At present,the incidence of stroke increased year by year,rehabilitation training robot system arises at the historic moment.Because the model is too complex,The training of patients with cerebral apoplexy need to repeat,so there are parameter perturbation and uncertain external disturbance;In the process of patients with upper limb rehabilitation,there are interaction between human and machine,such as limb spasm and muscle tone which make the system have parameter uncertainties and nonparametric uncertainties.This thesis use the D-H equation establish 5-dof upper limb rehabilitation robot kinematics model and express the upper limbs rehabilitation robot relative position and attitude of each joint based on the homogeneous transformation matrix;Application of Lagrange equation the robot dynamics model is established and the dynamics equation of complex system is obtained in the form of simple,then get the nominal linear dynamic equation with the generalized torque feedback for rehabilitation robot;According to the movement characteristics of upper limbs rehabilitation robot and modeling uncertainties,design upper limbs state feedback robust controller,make the solution of the linear matrix inequality meet the necessary and sufficient conditions for the robust stability of the system.When the presence of parameter uncertainty,to ensure that the system is quadratic stability(ω = 0),and make the output disturbance attenuation degree y,given the corresponding state feedback matrix solving process and prove it.The simulation results show that when the parameters of PD controller was unchanged,5-dof upper limb rehabilitation robot tracking dynamic response curves are fitted with the input signal with parameter perturbation and disturbance uncertainties in the range of the bounded.So the state feedback robust controller designed in this paper can achieve the purpose of stable high precision for a given signal tracking. |
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