Research On Motion Control Of Upper Limbs Medical Rehabilitation Robot

With the widespread use of the robot technology in the automate industry,the applications of robot are beginning to extend to other fields outside of automation as the gradual maturity of various robot technologies.The rehabilitation medical apparatus and instruments has been attracted the attention of many scientific research institutes and medical device enterprises as the vital medical equipment offered rehabilitation for patients.The upper limb medical rehabilitation robot provided vital support for the recovery of motor function for patients with upper limb dyskinesia as one of the rehabilitation medical apparatus and instruments.Therefore,this topic will carry out relevant research on the upper limb medical rehabilitation robot.It will focus on a kind of the external wearable upper limb medical rehabilitation robot that has the same motor joints as those of the human upper limb.During the rehabilitation training,patients will wear the upper limb medical rehabilitation robot to simulate the motion of the upper limbs in order to assist patients upper limbs rehabilitation training to restore patients with upper limb dyskinesia ultimately.As for the research for the upper limb rehabilitation medical robot,the first step is to analyze the structure and function for the human upper limbs in order to obtain the main degrees of freedom and exercise range for the human upper limbs.Simultaneously,with regard to the characteristics of the rehabilitation training to select the driving system and control system of the upper limb medical rehabilitation robot.The next step is to establish the kinematic model based on the overall designing project.The upper limb medical rehabilitation robot will be established in a triaxial coordinate system in the research and analyze the upper limb rehabilitation robot based on the kinematics and build the kinematic model of upper limb medical rehabilitation robot according to the analysis result.It will be simplified to a mechanical arm with three degrees of freedom by analyzing the kinematic characteristics and mechanical structure characteristics of the upper limb medical rehabilitation robot.Based on the established kinematic model,the MATLAB will be used to design a desired end trajectory and simulating the robot’s end trajectory tracking.In the process of simulation to observe the angular displacement,angular velocity and the variation situation of angular acceleration curves of the two joints in order to verify the stability of robot motion.Next,carrying out the kinetic analysis of the upper limb medical rehabilitation robot.By analyzing the velocity transfer between the robot links and using the Newton-Euler iterative dynamic equation to build the dynamical model of upper limb medical rehabilitation robot.Based on the established kinetic model,respectively using the feedback linearization control,sliding mode control and integral sliding mode control to compare the differences and relative merits of the three control strategies.At last,taking the "finite time" into account and expect the system could track the target trajectory within the finite time.With regard to the external disturbances,unmodeled dynamics and other uncertainties,the extended observer technique can be used to design compensation directly in the controller.At the same time,the characteristic of finite time tracking error convergence simulated by trajectory tracking control will be considered to ensure the system error,and to verify the correctness of each parameter design.It will provide the vital theoretical reference for the practical design and manufacture of the upper limb medical rehabilitation robot in the end.