کنترل مقاوم و تطبیقی ربات اسکلت خارجی برای تعقیب مسیر‌های مطلوب اصلاح شده بر اساس معیار پایداری نقطه گشتاور صفر

نوع مقاله : مقاله پژوهشی

نویسندگان

1 دانشجوی دکتری، مهندسی مکانیک، دانشگاه شهید بهشتی، تهران، ایران

2 هیئت علمی/ دانشگاه شهید بهشتی پردیس فنی عباسپور

3 دانشجوی دکتری، مهندسی مکانیک، دانشگاه شهید بهشتی، تهران، ایران،

چکیده

ایجاد مسیرهای مرجع و توانایی تعقیب مسیرهای ایجاد شده در حضور اغتشاشات و عدم قطعیت‌ها از مسائل مهم در بررسی عملکرد ربات اسکلت خارجی می‌باشد. یکی از روش‌های طراحی مسیر ربات‌های راه رونده الگوریتم تولید الگوی مرکزی می‌باشد. این الگوریتم به صورت چرخه حدی رفتار می‌کند و اﻏﺘﺸﺎﺷﺎت وارده را ﺑﻪ ﺳﺮﻋﺖ از سیستم ﺣﺬف کرده و مسیرهای موزونی را ایجاد می‌کند. در این مقاله برای ایجاد مسیرهای مرجع هر یک ازمفاصل ربات از ترکیب هفت عدد نوسانگر هپفیلد اصلاح شده با قابلیت تغییر در مشخصه‌های فرکانس و دامنه راه رفتن استفاده شده است. اصلاح برخط مسیرهای مرجع مفاصل ربات به کمک سیگنال خطای بازخوردی بین محل نقطه گشتاور صفر مطلوب و نقطه گشتاور صفر ربات در هر لحظه انجام شده است. به منظور مقابله با اغتشاشات و عدم قطعیت‌ها با دامنه نامعلوم سیستم و دستیابی به حداکثر کارایی در تعقیب مسیرهای مرجع ربات، از کنترل کننده  تطبیقی مد لغزشی دینامیکی سریع ترمینالی با قابلیت حذف پدیده چترینگ، همگرایی زمان محدود و افزایش مقاومت نسبت به کنترل کننده مد لغزشی معمولی استفاده شده است. همچنین با حرکت لینک کمر حداکثر پایداری حرکت ربات بر اساس معیار نقطه گشتاور صفر ایجاد شده است. برای دستیابی به بهترین عملکرد، پارامترهای کنترل کننده، ضرایب نوسانگرها و اتصال بین آن‌ها بهینه شده‌اند. عملکرد روش ارائه شده با کنترل کننده مد لغزشی مقایسه شده است که نتایج برتری روش ارائه شده را نشان داده است.

کلیدواژه‌ها

موضوعات

عنوان مقاله [English]

Robust and Adaptive Control of an Exoskeleton Robot For Tracking Modified Desired Trajectory Based on Zero Moment Point Stability Theory

نویسندگان [English]

  • majid mokhtari 1
  • Mostafa Taghizadeh 2
  • mahmood mazare 3
1 School of Mechanical engineering, ShahidBeheshti University, Tehran, Iran
2 shahid beheshti university
3 School of Mechanical Engineering, ShahidBeheshtiUniversity, Tehran, Iran.
چکیده [English]

The Creation of reference trajectories and the ability to track them in the presence of disturbances and uncertainties are important issues in investigating the exoskeleton performance. One of the methods of trajectory planning is the central pattern generation algorithm. This algorithm will behave in a limit cycle and the temporal disturbances have quickly removed the system and created harmonious trajectories. In this paper, for the creation of reference trajectories of each joint, a combination of seven modified Hopfield oscillators is used which provides the ability to change the frequency and domain of walking. Online modification of robot joint reference trajectories is done by using the feedback error signal between desired zero momentum point and zero momentum point of the robot at any moment. In order to cope with the disturbances and uncertainty with the uncertain domain and achieve maximum efficiency in tracking robot reference trajectories, an adaptive dynamic fast terminal sliding mode controller is used due to the elimination of chattering phenomena, and finite-time convergence. Also, by moving the Upper link the maximum stability of the robot based on the zero momentum point criterion is guaranteed. To achieve maximum performance, controller parameters, oscillator coefficients, and connections between them are optimized. Finally, the performance of the proposed method is compared with a sliding mode controller. The results demonstrate the superiority of the proposed method.

کلیدواژه‌ها [English]

  • Exoskeleton
  • Adaptive dynamic fast terminal sliding mode controller
  • Central pattern generation
  • Hopfield oscillator
  • Zero moment point stability theory

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نشریه مهندسی مکانیک امیرکبیر
دوره 53، شماره 12
اسفند 1400
صفحه 5831-5850

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