Hybrid Force Control Based on ICMAC for an Astronaut Rehabilitative Training Robot Regular Paper

作者：Zhang, Lixun; Zou, Yupeng^*; Wang, Lan; Pei, Xinping

来源：INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS, 2012, 9: 55.

DOI：10.5772/50849

• Astronaut Rehabilitative Training Robot (ART)
• man-machine cooperation system
• passive force servo system
• hybrid force control
• improved credit assignment CMAC (ICMAC)

A novel Astronaut Rehabilitative Training Robot (ART) based on a cable-driven mechanism is represented in this paper. ART, a typical passive force servo system, can help astronauts to bench press in a microgravity environment. The purpose of this paper is to design controllers to eliminate the surplus force caused by an astronaut's active movements. Based on the dynamics modelling of the cable-driven unit, a hybrid force controller based on improved credit assignment CMAC (ICMAC) is presented. A planning method for the cable tension is proposed so that the dynamic load produced by the ART can realistically simulate the gravity and inertial force of the barbell in a gravity environment. Finally, MATLAB simulation results of the man-machine cooperation system are provided in order to verify the effectiveness of the proposed control strategy. The simulation results show that the hybrid control method based on the structure invariance principle can inhibit the surplus force and that ICMAC can improve the dynamic performance of the passive force servo system. Furthermore, the hybrid force controller based on ICMAC can ensure the stability of the system.

• 出版日期2012-8-10
• 单位哈尔滨工程大学