Force Control for an Astronaut Rehabilitative Training Robot in Bench Press Mode
An Astronaut Rehabilitative Training Robot (ART) was developed to mitigate the effects of space adaptation syndrome (SAS),strengthen the upper limbs of astronauts,and help the astronauts to do bench press in a microgravity environment.In order to design the force controller of the cabledriven unit,the dynamic model of the cable-driven unit was built and the veracity of the model was verified through model identification which used the hardware-in-loop simulation tool based on dSPACE and the MATLAB-ident toolbox.A hybrid force controller was designed in order to improve the control precision and response speed of the cable-driven unit,and a compensation segment was designed based on the structure invariance principle to reduce the surplus force.The simulation results show that the hybrid force controller effectively improves the control precision and response speed of the cable-driven unit; the compensation segment reduces the surplus force significantly,and improves the loading precision as well.
Astronaut Rehabilitative Training Robot(ART) model identification passive force servo system surplus force
Yupeng Zou Lixun Zhang Tao Qin Yingbin Liang
College of Mechanical and Electrical Engineering Harbin Engineering University Harbin, Heilongjiang Province, China
国际会议
2013 ICME International Conference on Complex Medical Engineering(2013 ICME复合医学工程国际会议)
北京
英文
296-301
2013-05-25（万方平台首次上网日期，不代表论文的发表时间）