考虑人机作用力的康复训练机器人各运动轴最优轨迹跟踪预测控制

针对人机作用力影响康复训练机器人的跟踪性能问题，提出了一种新颖的观测器设计方法，目的是利用系统的位置输出估计人机作用力.同时，为了抑制人机作用力并避免运动中产生较大的跟踪误差而影响康复者安全，设计了非线性控制器，并得到了机器人各运动轴系统模型.进一步，结合预测控制同时约束了系统轨迹跟踪误差和速度跟踪误差，并实现了各运动轴的最优轨迹跟踪.通过仿真结果对比分析和实验研究，表明文中提出人机作用力观测和控制器设计方法的有效性和优越性. 

Optimal Trajectory Tracking Predictive Control of Every Motion Axis for Rehabilitative Training Walker Considering Human-Robot Interaction Forces

To overcome the influence of the interaction forces of human-robot on the trajectory tracking performance of rehabilitative training walker, a novel design method of observer was proposed based on position output of system to estimate the interaction forces of human-robot. Firstly, a nonlinear controller was designed and a system model was established for every motion axis to restrain the interaction forces and avoid larger tracking errors, in order to improve the system''s tracking performance and guarantee the rehabilitee''s safety. Further, taking the predictive control as a method to constrain the trajectory and velocity tracking errors simultaneously, the optimal trajectory tracking was realized for every motion axis. Finally, a simulation and experiment were carried out to analyze the running effect of the walker. Results show the effectiveness and advantage of the observation of human-robot interaction forces and the design method of controller.