CN114469642B - Rehabilitation robot control method and device and rehabilitation robot - Google Patents
Rehabilitation robot control method and device and rehabilitation robot Download PDFInfo
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- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
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Abstract
The invention provides a rehabilitation robot control method and device and a rehabilitation robot, wherein task classification is carried out through zero space projection, different task requirements such as position/posture requirements, speed/angular speed requirements or acceleration/angular acceleration requirements can be met, a low-priority task is located in a zero space on a high-priority task, the influence cannot be exerted on the high-priority task, task classification is carried out efficiently, therefore, task classification is carried out based on zero space projection, inverse dynamic control is carried out on the rehabilitation robot based on feedback linearization, and the problem of redundancy of joint degrees of freedom can be effectively solved.
Description
Technical Field
The invention relates to the technical field of rehabilitation robots, in particular to a rehabilitation robot control method and device and a rehabilitation robot.
Background
The current treatment scheme for rehabilitation robots is to set a certain target position, and the limbs of the patient are required to reach the target position with the assistance of the robot, and usually, only 3 controllable joint degrees of freedom are required to reach any position in a three-dimensional task space.
Along with the development of robot technology, the controllable degree of freedom of the rehabilitation robot is more and more, the current mainstream rehabilitation robot generally has more than 6 controllable joint degrees of freedom, which are greater than the degree of freedom required by tasks, namely the joint degree of freedom redundancy appears, and the current lack of related technologies is used for solving the problem of joint degree of freedom redundancy.
Disclosure of Invention
The invention solves the problem that the existing rehabilitation robot has redundancy of joint freedom.
In order to solve the above problems, the present invention provides a rehabilitation robot control method, the method comprising: acquiring multi-stage tasks of a task space, classifying the multi-stage tasks based on zero space projection, and outputting target motion parameters of each joint; the same task level contains different task types including: with position/attitude requirements, with speed/angular speed requirements, with acceleration/angular acceleration requirements; performing inverse dynamics control based on feedback linearization, calculating to obtain output moment of each joint according to the target motion parameter and the actual motion parameter of each joint, and calculating to obtain driving quantity of each joint according to the output moment of each joint; and controlling the joint execution units corresponding to the joints to be trained to apply auxiliary torque according to the driving quantity of each joint so as to perform rehabilitation training.
Optionally, the task grading is performed on the multi-stage task based on the zero space projection, and the target motion parameters of each joint are output, including: calculating a target joint angle for the task with position/posture requirements based on the zero-space projection; or calculating an angular velocity for the task having a velocity/angular velocity requirement; or calculating the angular acceleration for the task with acceleration/angular acceleration requirements.
Optionally, if the rehabilitation robot has n controllable joint degrees of freedom, the multi-stage task includes r different stages of tasks: task i＝{Ji(q),wi }; wherein, i is more than or equal to 1 and less than or equal to r, i is the ith task, the task with i=1 has the highest priority, and the task grades are sequentially reduced along with the increase of i; Angle vectors representing n controllable joints of the rehabilitation robot; jacobian matrix representing the ith task,/> Forward kinematics function representing ith task,/>Representing the partial derivative of f i (q) with respect to q; /(I)An ith task vector representing a task space;
The target joint angle q d is calculated for the task with position/pose requirements based on the zero-space projection as follows:
Δqi＝Δqi-1+(Ji(q)Ni-1(q))#(wi-Ji(q)Δqi-1)∈Rn
Ni(q)＝Ni-1(q)(I-Ji(q)#Ji(q))∈Rn×n
Wherein q d represents a target joint angle; j i (q) represents the jacobian of the ith task; n i (q) represents the zero-space projection matrix of matrix J i (q); n i-1 (q) represents the zero-space projection matrix of the i-1 th task jacobian matrix; * # denotes the pseudo-inverse of matrix; Δq i represents the joint position of the ith task; Δq i-1 represents the joint position of the i-1 st task;
Or calculating angular velocity for the task with velocity/angular velocity requirements The following are provided:
Ni(q)＝Ni-1(q)(I-Ji(q)#Ji(q))∈Rn×n
Wherein, Representing a target joint angular velocity; j i (q) represents the jacobian of the ith task; n i (q) represents the zero-space projection matrix of matrix J i (q); n i-1 (q) represents the zero-space projection matrix of the i-1 th task jacobian matrix; * # denotes the pseudo-inverse of matrix; /(I)The joint angular velocity representing the ith task; /(I)The joint angular velocity representing the i-1 th task;
Or calculating the angular acceleration for the task with acceleration/angular acceleration requirements The following are provided:
Ni(q)＝Ni-1(q)(I-Ji(q)#Ji(q))∈Rn×n
Wherein, Representing a target joint angular acceleration; j i (q) represents the jacobian of the ith task; n i (q) represents the zero-space projection matrix of matrix J i (q); n i-1 (q) represents the zero-space projection matrix of the i-1 th task jacobian matrix; * # denotes the pseudo-inverse of matrix; /(I)Joint angular acceleration representing the ith task; /(I)The joint angular acceleration for the i-1 th task is shown.
Optionally, the inverse dynamics control based on feedback linearization calculates an output torque of each joint from the target motion parameter and the actual motion parameter of each joint, and calculates a driving amount of each joint according to the output torque of each joint, including:
the kinetic equation of the rehabilitation robot is as follows:
Wherein, The actual angle, the angular velocity and the angular acceleration vector of each joint of the rehabilitation robot are respectively represented; m (q) ∈R n×n represents the inertial matrix of the rehabilitation robot; /(I)A Kernel matrix representing the rehabilitation robot; A friction vector representing a rehabilitation robot; g (q) ∈r n denotes the gravity vector of the rehabilitation robot body; τ epsilon R n represents the output moment vector of each joint of the rehabilitation robot;
Written in the form of a state equation
Wherein, x 1 =q,u＝τ；
Wherein,The actual angle and the angular velocity of each joint of the rehabilitation robot are respectively represented; /(I)Respectively representing the target angle, the target angular velocity and the target angular acceleration of each joint obtained based on the zero space projection calculation; k p＝diag(Kp,1,...,Kp,n) represents a diagonal matrix of proportional control coefficients for each joint; k d＝diag(Kd,1,…,Kd,n) represents a diagonal matrix of differential control coefficients of each joint;
The driving amount of each joint is the current required by each joint, and the calculation formula is as follows:
wherein, K A＝diag(KA,1,…,KA,n) represents a diagonal matrix of moment constants of each joint motor.
Optionally, the rehabilitation robot comprises a motion execution module, the motion execution module comprising at least one degree of freedom of: shoulder joint outward/inward flexion degrees of freedom, forward flexion/backward extension degrees of freedom, inward/outward rotation degrees of freedom, elbow joint flexion/extension degrees of freedom, forearm forward/backward rotation degrees of freedom, wrist joint dorsiflexion/palmar flexion/ulnar flexion degrees of freedom; each degree of freedom may be rehabilitation trained alone or in combination.
Optionally, the rehabilitation robot comprises a motion sensing module; the motion sensing module comprises joint encoders arranged at joint motors of all joints; the method further comprises the steps of: and filtering the angle and the angular velocity of each joint acquired by the joint encoder based on a Kalman filter to obtain the filtered angle and angular velocity of each joint.
The invention provides a rehabilitation robot control device, which comprises: the system comprises a zero space projection module, a target motion parameter generation module and a target motion parameter generation module, wherein the zero space projection module is used for acquiring multi-stage tasks of a task space, classifying the multi-stage tasks based on zero space projection and outputting the target motion parameters of each joint; the same task level contains different task types including: with position/attitude requirements, with speed/angular speed requirements, with acceleration/angular acceleration requirements; the driving amount calculation module is used for carrying out inverse dynamics control based on feedback linearization, calculating the output moment of each joint according to the target motion parameter and the actual motion parameter of each joint, and calculating the driving amount of each joint according to the output moment of each joint; and the moment control module is used for controlling the joint execution units corresponding to the joints to be trained to apply auxiliary moment according to the driving quantity of each joint so as to perform rehabilitation training.
Optionally, the zero-space projection module is specifically configured to: calculating a target joint angle for the task with position/posture requirements based on the zero-space projection; or calculating an angular velocity for the task having a velocity/angular velocity requirement; or calculating the angular acceleration for the task with acceleration/angular acceleration requirements.
Optionally, the rehabilitation robot comprises a motion execution module, the motion execution module comprising at least one degree of freedom of: shoulder joint outward/inward flexion degrees of freedom, forward flexion/backward extension degrees of freedom, inward/outward rotation degrees of freedom, elbow joint flexion/extension degrees of freedom, forearm forward/backward rotation degrees of freedom, wrist joint dorsiflexion/palmar flexion/ulnar flexion degrees of freedom; each degree of freedom may be rehabilitation trained alone or in combination.
The present invention provides a rehabilitation robot comprising: a rehabilitation exoskeleton and a controller; the controller is used for executing the rehabilitation robot control method.
According to the invention, task classification is performed through the zero-space projection, different task requirements such as position/posture requirements, speed/angular speed requirements or acceleration/angular acceleration requirements can be met, a task with low priority is positioned in the zero space on a task with high priority, the influence cannot be exerted on the task with high priority, and the task classification is performed efficiently, so that the task classification is performed based on the zero-space projection, the inverse dynamics control of the rehabilitation robot is performed based on feedback linearization, and the problem of redundancy of the joint degrees of freedom can be effectively solved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present invention, and that other drawings can be obtained according to the provided drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a task-based hierarchical rehabilitation robot control device according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart of a rehabilitation robot control method according to an embodiment of the present invention;
FIG. 3 is a logic diagram of a motion control module of a rehabilitation robot control device based on task classification according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a motion execution module of a rehabilitation robot control device based on task classification according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a rehabilitation robot control device according to an embodiment of the invention.
Reference numerals illustrate:
11-a motion planning module; 12-a motion control module; 13-a motion execution module; 14-a motion perception module; 121-represents an outer loop nonlinear controller; 122-represents an inner loop linear controller; 131-exoskeleton includes shoulder-swing/adduction module; 132-anterior/posterior modules; 133-inside/outside spin module; 134-elbow flexion/extension module; 135-forearm pronation/supination module; 136-dorsiflexion/palmar carpal Qu Mokuai; 137-carpal ulnar flexion/radius Qu Mokuai; 501-a zero space projection module; 502-a drive amount calculation module; 503—a torque control module.
Detailed Description
In order that the above objects, features and advantages of the invention will be readily understood, a more particular description of the invention will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Along with the development of robot technology, the controllable degree of freedom of the upper limb rehabilitation robot is more and more, and the current mainstream upper limb rehabilitation robot generally has more than 6 controllable joint degrees of freedom, which are greater than the degree of freedom required by tasks, namely joint degree of freedom redundancy occurs.
The embodiment of the invention adopts a technology based on zero space projection (null space projection) to solve the problem of redundancy of the joint freedom degree. The vector space formed by the solution of the homogeneous linear system of equations ax=0 is called the null space of the matrix a, denoted as N (a), where N is the first letter of the english zero "null". The task is classified into different levels by the zero-space projection technology, so that the task can be understood as instantaneous local optimization, the task with low priority is positioned in the zero space on the task with high priority, and cannot influence the task with high priority, so that the task classification method is an efficient task classification execution method. The embodiment of the invention provides a rehabilitation robot control method based on task classification, which is used for solving the problem of redundancy of the joint freedom degree of the rehabilitation robot. According to the method, task classification is carried out based on zero space projection, inverse dynamic control of the rehabilitation robot is carried out based on feedback linearization, and the problem of joint freedom redundancy can be effectively solved.
Fig. 1 is a schematic structural diagram of a rehabilitation robot control device based on task classification according to an embodiment of the invention. The figure shows a motion planning module 11, a motion control module 12, a motion execution module 13 and a motion perception module 14.
The motion planning module 11 performs task classification based on the zero-space projection, and inputs tasks of different grades: task i＝{Ji(q),wi, outputting target angle, angular velocity and angular acceleration of each jointTo the motion control module 12;
The motion control module 12 performs inverse dynamic control of the rehabilitation robot based on feedback linearization, and inputs the motion parameters of each joint target And actual kinetic parameters/>Outputting each joint current instruction I to a motion execution module 13;
the motion execution module 13 adopts an exoskeleton form to drive each joint to be trained in the arm to be trained to perform rehabilitation training motion, and generates actual motion parameters The motion perception module 14 obtains the actual motion parameters/>, of the rehabilitation robot based on the joint encoder and the kalman filterAnd sent to the motion control module 12.
Fig. 2 is a schematic flow chart of a rehabilitation robot control method according to an embodiment of the present invention, where the method includes:
S202, acquiring multi-stage tasks of a task space, classifying the multi-stage tasks based on zero space projection, and outputting target motion parameters of each joint.
Wherein the same task level contains different task types. There may be different types of tasks at the same task level, e.g. a task level i may have both position/attitude requirements and speed/angular speed requirements. The task types may include the following categories: with position/attitude requirements, with speed/angular speed requirements, and with acceleration/angular acceleration requirements. The position/gesture requirements are that the task vector requires the position/gesture of the task space to meet specific conditions; the task vector has a speed/angular speed requirement, namely the task vector requires the speed/angular speed of the task space to meet a specific condition; having acceleration/angular acceleration requirements means that the task vector requires that the acceleration/angular acceleration of the task space meet certain conditions.
Different task levels have different execution priorities, and tasks with low priorities are located in a zero space on tasks with high priorities, so that the tasks with high priorities cannot be influenced.
Specifically, task classification is performed on the multi-stage tasks based on the zero-space projection, and target motion parameters of each joint are output, including: calculating a target joint angle for a task having position/pose requirements based on the zero-space projection; or calculating an angular velocity for a task having a velocity/angular velocity requirement; or calculating the angular acceleration for a task with acceleration/angular acceleration requirements.
Assuming that the rehabilitation robot has n controllable degrees of joint freedom, the multi-level tasks include r different levels of tasks: task i＝{Ji(q),wi }; wherein, i is more than or equal to 1 and less than or equal to r, i is the ith task, the task with i=1 has the highest priority, and the task grades are sequentially reduced along with the increase of i; angle vectors representing n controllable joints of the rehabilitation robot; /(I) Jacobian matrix representing the ith task,/>Representing the forward kinematic function of the ith task, a mapping of q from joint space to w i of task space can be achieved,/>Representing the partial derivative of f i (q) with respect to q; /(I)The i-th task vector representing the task space may require the position/posture of the task space, the speed/angular velocity or the acceleration/angular acceleration to satisfy a specific condition, and the task may be divided into 3 kinds according to w i.
(1) Position/pose task
When the task vector w i requires that the position/posture of the task space satisfy a certain condition, the target angle q d of each joint is calculated by:
Δqi＝Δqi-1+(Ji(q)Ni-1(q))#(wi-Ji(q)Δqi-1)∈Rn
Ni(q)＝Ni-1(q)(I-Ji(q)#Ji(q))∈Rn×n
Wherein q d represents a target joint angle; j i (q) represents the jacobian of the ith task; n i (q) represents the zero-space projection matrix of matrix J i (q); n i-1 (q) represents the zero-space projection matrix of the i-1 th task jacobian matrix; * # denotes the pseudo-inverse of matrix; Δq i represents the joint position of the ith task; Δq i-1 represents the joint position of the i-1 st task;
(2) Speed/angular speed task
When the task vector w i requires that the speed/angular speed of the task space satisfy a certain condition, the angular speed is calculated by the following formula
Ni(q)＝Ni-1(q)(I-Ji(q)#Ji(q))∈Rn×n
Wherein,Representing a target joint angular velocity; j i (q) represents the jacobian of the ith task; n i (q) represents the zero-space projection matrix of matrix J i (q); n i-1 (q) represents the zero-space projection matrix of the i-1 th task jacobian matrix; * # denotes the pseudo-inverse of matrix; /(I)The joint angular velocity representing the ith task; /(I)The joint angular velocity representing the i-1 th task;
(3) Acceleration/angular acceleration tasks
When the task vector w i requires that the acceleration/angular acceleration of the task space satisfy a specific condition, the angular acceleration is calculated by
Ni(q)＝Ni-1(q)(I-Ji(q)#Ji(q))∈Rn×n
Wherein,Representing a target joint angular acceleration; j i (q) represents the jacobian of the ith task; n i (q) represents the zero-space projection matrix of matrix J i (q); n i-1 (q) represents the zero-space projection matrix of the i-1 th task jacobian matrix; * # denotes the pseudo-inverse of matrix; /(I)Joint angular acceleration representing the ith task; /(I)The joint angular acceleration for the i-1 th task is shown.
S204, inverse dynamics control is performed based on feedback linearization, output torque of each joint is calculated according to target motion parameters and actual motion parameters of each joint, and driving quantity of each joint is calculated according to the output torque of each joint.
The motion parameters include the target joint angle, angular velocity, angular acceleration, etc. of each joint calculated in the above steps, and the driving amount may be parameters such as current or voltage of a joint execution unit (e.g., motor, etc.) corresponding to the joint. The inverse dynamics control of the rehabilitation robot is performed through feedback linearization, the algorithm is simple, and nonlinear parameters of robot dynamics can be effectively processed.
Fig. 3 is a logic schematic diagram of a motion control module of a rehabilitation robot control device based on task classification according to an embodiment of the present invention. Robot dynamics control is generally divided into a positive problem and a negative problem. The method has the positive problems that the driving force of the motor at each joint of the robot is known, and the final reached position, momentum and acceleration of the mechanical arm are predicted; the inverse problem is how the motor driving force at each joint of the robot needs to be distributed in order to move the mechanical arm to a specified position and have specified momentum or acceleration. The current common treatment scheme of the upper limb rehabilitation robot is to set a certain target position, and the limb of the patient is required to reach the target position with the assistance of the robot, namely the inverse dynamics problem of the robot.
The motion control module performs inverse dynamics control based on feedback linearization, with 121 in fig. 3 representing the outer loop nonlinear controller and 122 representing the inner loop linear controller. The outer ring controller 121 inputs the target motion parameters of each jointAnd actual kinetic parameters/>Outputting an acceleration command v; the inner loop controller 122 inputs the acceleration command v and outputs the joint current command I i.
The kinetic equation of the rehabilitation robot is as follows:
Wherein, The actual angle, the angular velocity and the angular acceleration vector of each joint of the rehabilitation robot are respectively represented; m (q) ∈R n×n represents the inertial matrix of the rehabilitation robot; /(I)A Kernel matrix representing the rehabilitation robot; A friction vector representing a rehabilitation robot; g (q) ∈r n denotes the gravity vector of the rehabilitation robot body; τ epsilon R n represents the output moment vector of each joint of the rehabilitation robot;
Written in the form of a state equation
Wherein, x 1 =q,u＝τ；
Wherein,The actual angle and the angular velocity of each joint of the rehabilitation robot are respectively represented; /(I)Respectively representing the target angle, the target angular velocity and the target angular acceleration of each joint obtained based on the zero space projection calculation; k p＝diag(Kp,1,...,Kp,n) represents a diagonal matrix of proportional control coefficients for each joint; k d＝diag(Kd,1,…,Kd,n) represents a diagonal matrix of differential control coefficients of each joint;
The driving amount of each joint is the current required by each joint, and the calculation formula is as follows:
Wherein, K A＝diag(KA,1,…,KA,n) represents a diagonal matrix of moment constants of each joint motor.
S206, controlling the joint execution units corresponding to the joints to be trained to apply auxiliary torque according to the driving quantity of each joint so as to perform rehabilitation training.
Based on the process of calculating the driving quantity of each joint, the driving quantity of the joint execution unit corresponding to the joint to be trained can be determined, and the corresponding joint execution unit is controlled by the driving quantity, so that a proper auxiliary torque is applied, and the joint to be trained performs rehabilitation training movement according to the target.
According to the rehabilitation robot control method provided by the embodiment of the invention, task classification can be performed through zero space projection, different task requirements such as position/posture requirements, speed/angular speed requirements or acceleration/angular acceleration requirements can be met, a task with low priority is located in a zero space on a task with high priority, the task with high priority cannot be influenced, task classification is performed efficiently, therefore, task classification is performed based on zero space projection and rehabilitation robot inverse dynamics control is performed based on feedback linearization, and the problem of joint freedom redundancy can be effectively solved.
Fig. 4 is a schematic structural diagram of a motion execution module of a rehabilitation robot control device based on task classification according to an embodiment of the present invention. Illustratively, the motion execution module takes the form of an exoskeleton robot, the exoskeleton comprising a shoulder-joint outward/inward module 131, an anteversion/backward extension module 132, an inward/outward rotation module 133, an elbow-joint flexion/extension module 134, a forearm supination/supination module 135, a wrist dorsiflexion/palmar Qu Mokuai, and a wrist ulnar flexion/radius Qu Mokuai 137, each of which may be independently rehabilitation trained or combined for rehabilitation training.
The motion execution module applies an auxiliary torque to the joint execution unit corresponding to the joint to be trained according to the joint current instruction of the joint to be trained, so that the joint to be trained performs rehabilitation training motion according to the target joint parameters.
Further, the rehabilitation robot also comprises a motion sensing module; the motion sensing module comprises joint encoders arranged at joint motors of all joints. Based on this, the above method further comprises: and filtering the angle and the angular velocity of each joint acquired by the joint encoder based on a Kalman filter to obtain the filtered angle and angular velocity of each joint. The motion sensing module takes the form of joint encoders, is arranged at each joint motor, filters the angles and the angular velocities of all joints through a Kalman filter, inputs the angles of all joints (measured by each joint encoder) through the Kalman filter, and outputs the filtered angles and angular velocities of all joints to the motion control module.
According to the embodiment of the invention, task classification is carried out through zero space projection, and different task requirements such as position/posture requirements, speed/angular speed requirements or acceleration/angular acceleration requirements can be met; the task with low priority is positioned in a zero space on the task with high priority, cannot exert influence on the task with high priority, and is an efficient task grading execution method; the inverse dynamics control of the rehabilitation robot is performed through feedback linearization, the algorithm is simple, and nonlinear parameters of robot dynamics can be effectively processed.
Fig. 5 is a schematic structural view of a rehabilitation robot control device according to an embodiment of the present invention, the rehabilitation robot control device including:
The zero space projection module 501 is used for acquiring multi-stage tasks of a task space, classifying the multi-stage tasks based on zero space projection and outputting target motion parameters of each joint; the same task level contains different task types including: with position/attitude requirements, with speed/angular speed requirements, with acceleration/angular acceleration requirements;
the driving amount calculation module 502 is configured to perform inverse dynamics control based on feedback linearization, calculate an output torque of each joint according to the target motion parameter and the actual motion parameter of each joint, and calculate a driving amount of each joint according to the output torque of each joint;
and the moment control module 503 is configured to control the joint execution unit corresponding to the joint to be trained to apply an auxiliary moment according to the driving amount of each joint, so as to perform rehabilitation training.
According to the rehabilitation robot control device provided by the embodiment of the invention, task classification can be performed through zero space projection, different task requirements such as position/posture requirements, speed/angular speed requirements or acceleration/angular acceleration requirements can be met, a low-priority task is located in a zero space on a high-priority task, the influence cannot be exerted on the high-priority task, and task classification is performed efficiently, so that task classification is performed based on zero space projection and inverse dynamics control is performed based on feedback linearization, and the problem of redundancy of joint degrees of freedom can be effectively solved.
Optionally, as an embodiment, the zero-space projection module is specifically configured to: calculating a target joint angle for the task with position/posture requirements based on the zero-space projection; or calculating an angular velocity for the task having a velocity/angular velocity requirement; or calculating the angular acceleration for the task with acceleration/angular acceleration requirements.
Optionally, as an embodiment, if the rehabilitation robot has n controllable joint degrees of freedom, the multi-stage tasks include r different stages of tasks: task i＝{Ji(q),wi }; wherein, i is more than or equal to 1 and less than or equal to r, i is the ith task, the task with i=1 has the highest priority, and the task grades are sequentially reduced along with the increase of i; angle vectors representing n controllable joints of the rehabilitation robot; /(I) Jacobian matrix representing the ith task,/>Forward kinematics function representing ith task,/>Representing the partial derivative of f i (q) with respect to q; /(I)An ith task vector representing a task space;
The target joint angle q d is calculated for the task with position/pose requirements based on the zero-space projection as follows:
Δqi＝Δqi-1+(Ji(q)Ni-1(q))#(wi-Ji(q)Δqi-1)∈Rn
Ni(q)＝Ni-1(q)(I-Ji(q)#Ji(q))∈Rn×n
Wherein q d represents a target joint angle; j i (q) represents the jacobian of the ith task; n i (q) represents the zero-space projection matrix of matrix J i (q); n i-1 (q) represents the zero-space projection matrix of the i-1 th task jacobian matrix; * # denotes the pseudo-inverse of matrix; Δq i represents the joint position of the ith task; Δq i-1 represents the joint position of the i-1 st task;
Or calculating angular velocity for the task with velocity/angular velocity requirements The following are provided:
Ni(q)＝Ni-1(q)(I-Ji(q)#Ji(q))∈Rn×n
Wherein, Representing a target joint angular velocity; j i (q) represents the jacobian of the ith task; n i (q) represents the zero-space projection matrix of matrix J i (q); n i-1 (q) represents the zero-space projection matrix of the i-1 th task jacobian matrix; * # denotes the pseudo-inverse of matrix; /(I)The joint angular velocity representing the ith task; /(I)The joint angular velocity representing the i-1 th task;
Or calculating the angular acceleration for the task with acceleration/angular acceleration requirements The following are provided:
Ni(q)＝Ni-1(q)(I-Ji(q)#Ji(q))∈Rn×n
Wherein, Representing a target joint angular acceleration; j i (q) represents the jacobian of the ith task; n i (q) represents the zero-space projection matrix of matrix J i (q); n i-1 (q) represents the zero-space projection matrix of the i-1 th task jacobian matrix; * # denotes the pseudo-inverse of matrix; /(I)Joint angular acceleration representing the ith task; /(I)The joint angular acceleration for the i-1 th task is shown.
Optionally, as an embodiment, the performing inverse dynamics control based on feedback linearization, calculating an output torque of each joint from the target motion parameter and the actual motion parameter of each joint, and calculating a driving amount of each joint according to the output torque of each joint includes:
the kinetic equation of the rehabilitation robot is as follows:
Wherein, The actual angle, the angular velocity and the angular acceleration vector of each joint of the rehabilitation robot are respectively represented; m (q) ∈R n×n represents the inertial matrix of the rehabilitation robot; /(I)A Kernel matrix representing the rehabilitation robot; A friction vector representing a rehabilitation robot; g (q) ∈r n denotes the gravity vector of the rehabilitation robot body; τ epsilon R n represents the output moment vector of each joint of the rehabilitation robot;
Written in the form of a state equation
Wherein, x 1 =q,u＝τ；
Wherein,The actual angle and the angular velocity of each joint of the rehabilitation robot are respectively represented; /(I)Respectively representing the target angle, the target angular velocity and the target angular acceleration of each joint obtained based on the zero space projection calculation; k p＝diag(Kp,1,...,Kp,n) represents a diagonal matrix of proportional control coefficients for each joint; k d＝diag(Kd,1,…,Kd,n) represents a diagonal matrix of differential control coefficients of each joint;
The driving amount of each joint is the current required by each joint, and the calculation formula is as follows:
wherein, K A＝diag(KA,1,…,KA,n) represents a diagonal matrix of moment constants of each joint motor.
Optionally, as an embodiment, the rehabilitation robot includes a motion execution module, the motion execution module including at least one degree of freedom of: shoulder joint outward/inward flexion degrees of freedom, forward flexion/backward extension degrees of freedom, inward/outward rotation degrees of freedom, elbow joint flexion/extension degrees of freedom, forearm forward/backward rotation degrees of freedom, wrist joint dorsiflexion/palmar flexion/ulnar flexion degrees of freedom;
each degree of freedom may be rehabilitation trained alone or in combination.
Optionally, as an embodiment, the rehabilitation robot comprises a motion sensing module; the motion sensing module comprises joint encoders arranged at joint motors of all joints; the device also comprises an acquisition module for: and filtering the angle and the angular velocity of each joint acquired by the joint encoder based on a Kalman filter to obtain the filtered angle and angular velocity of each joint.
The embodiment of the invention also provides a rehabilitation robot, which comprises: a rehabilitation exoskeleton and a controller; the controller is used for executing the rehabilitation robot control method.
The embodiment of the invention also provides a computer readable storage medium, on which a computer program is stored, which when executed by a processor, realizes the processes of the above embodiment of the rehabilitation robot control method, and can achieve the same technical effects, and in order to avoid repetition, the description is omitted here. The computer readable storage medium is, for example, a Read-Only Memory (ROM), a random access Memory (Random Access Memory RAM), a magnetic disk or an optical disk.
Of course, it will be appreciated by those skilled in the art that implementing all or part of the above-described methods in the embodiments may be implemented by a computer level to instruct a control device, where the program may be stored in a computer readable storage medium, and the program may include the above-described methods in the embodiments when executed, where the storage medium may be a memory, a magnetic disk, an optical disk, or the like.
In this document, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (7)
1. A rehabilitation robot control method, the method comprising:
acquiring multi-stage tasks of a task space, classifying the multi-stage tasks based on zero space projection, and outputting target motion parameters of each joint; the same task level contains different task types including: with position or attitude requirements, with speed or angular speed requirements, with acceleration or angular acceleration requirements;
Performing inverse dynamics control based on feedback linearization, calculating to obtain output moment of each joint according to the target motion parameter and the actual motion parameter of each joint, and calculating to obtain driving quantity of each joint according to the output moment of each joint;
The task classification is carried out on the multi-stage tasks based on the zero space projection, and the target motion parameters of all joints are output, including:
calculating a target joint angle for the task with position or posture requirements based on the zero-space projection; or alternatively
Calculating an angular velocity for the task having a velocity or angular velocity requirement; or alternatively
Calculating the angular acceleration of the task with the acceleration or angular acceleration requirement;
If the rehabilitation robot has n controllable joint degrees of freedom, the multi-stage tasks comprise r different-stage tasks: ; wherein/> Representing the ith task, the task with i=1 has the highest priority, and the task level decreases sequentially with the increase of i; /(I)Angle vectors representing n controllable joints of the rehabilitation robot; /(I)Jacobian matrix representing the ith task,/>Forward kinematics function representing ith task,/>Representation/>Partial derivative of q; /(I)An ith task vector representing a task space;
Calculating a target joint angle for the task with position or posture requirements based on the zero-space projection The following are provided:
Wherein, Representing a target joint angle; /(I)A jacobian matrix representing an ith task; /(I)Representation matrix/>Is a zero space projection matrix of (2); /(I)A zero-space projection matrix representing an i-1 th task jacobian matrix; /(I)Representing the pseudo-inverse of matrix; /(I)A joint position representing an ith task; /(I)Representing the joint position of the i-1 th task;
Or calculating angular velocity for the task having a velocity or angular velocity requirement The following are provided:
Wherein, Representing a target joint angular velocity; /(I)A jacobian matrix representing an ith task; /(I)Representation matrixIs a zero space projection matrix of (2); /(I)A zero-space projection matrix representing an i-1 th task jacobian matrix; /(I)Representing the pseudo-inverse of matrix; /(I)The joint angular velocity representing the ith task; /(I)The joint angular velocity representing the i-1 th task;
or calculating the angular acceleration for the task with acceleration or angular acceleration requirements The following are provided:
Wherein, Representing a target joint angular acceleration; /(I)A jacobian matrix representing an ith task; /(I)Representation matrixIs a zero space projection matrix of (2); /(I)A zero-space projection matrix representing an i-1 th task jacobian matrix; /(I)Representing the pseudo-inverse of matrix; /(I)Joint angular acceleration representing the ith task; /(I)The joint angular acceleration for the i-1 th task is shown.
2. The method according to claim 1, wherein the inverse dynamics control based on feedback linearization, calculating the output torque of each joint from the target motion parameter and the actual motion parameter of each joint, and calculating the driving amount of each joint from the output torque of each joint, includes:
the kinetic equation of the rehabilitation robot is as follows:
Wherein, The actual angle, the angular velocity and the angular acceleration vector of each joint of the rehabilitation robot are respectively represented; Representing an inertial matrix of the rehabilitation robot; /(I) A Kernel matrix representing the rehabilitation robot; A friction vector representing a rehabilitation robot; /(I) A gravity vector representing the rehabilitation robot body; the output moment vector of each joint of the rehabilitation robot is represented;
Written in the form of a state equation
Wherein,;
Wherein,The actual angle and the angular velocity of each joint of the rehabilitation robot are respectively represented; /(I)Respectively representing the target angle, the target angular velocity and the target angular acceleration of each joint obtained based on the zero space projection calculation; A diagonal matrix representing the proportional control coefficients of each joint; /(I) A diagonal matrix formed by differential control coefficients representing each joint;
The driving amount of each joint is the current required by each joint, and the calculation formula is as follows:
Wherein, A diagonal matrix of torque constants of the respective joint motors is shown.
3. The method of claim 1, wherein the rehabilitation robot comprises a motion execution module comprising at least one degree of freedom of: a shoulder joint outward swing or inward contraction degree of freedom, a forward flexion or backward extension degree of freedom, an inward rotation or outward rotation degree of freedom, an elbow joint flexion or extension degree of freedom, a forearm rotation forward or backward rotation degree of freedom, a wrist joint dorsiflexion or palmar flexion, ulnar flexion or radial flexion degree of freedom;
each degree of freedom may be rehabilitation trained alone or in combination.
4. The method of claim 1, wherein the rehabilitation robot comprises a motion sensing module; the motion sensing module comprises joint encoders arranged at joint motors of all joints; the method further comprises the steps of:
And filtering the angle and the angular velocity of each joint acquired by the joint encoder based on a Kalman filter to obtain the filtered angle and angular velocity of each joint.
5. A rehabilitation robot control device, the device comprising:
the system comprises a zero space projection module, a target motion parameter generation module and a target motion parameter generation module, wherein the zero space projection module is used for acquiring multi-stage tasks of a task space, classifying the multi-stage tasks based on zero space projection and outputting the target motion parameters of each joint; the same task level contains different task types including: with position or attitude requirements, with speed or angular speed requirements, with acceleration or angular acceleration requirements;
The driving amount calculation module is used for carrying out inverse dynamics control based on feedback linearization, calculating the output moment of each joint according to the target motion parameter and the actual motion parameter of each joint, and calculating the driving amount of each joint according to the output moment of each joint;
the moment control module is used for controlling the joint execution units corresponding to the joints to be trained to apply auxiliary moment according to the driving quantity of each joint so as to perform rehabilitation training;
The zero space projection module is specifically configured to:
calculating a target joint angle for the task with position or posture requirements based on the zero-space projection; or alternatively
Calculating an angular velocity for the task having a velocity or angular velocity requirement; or alternatively
Calculating the angular acceleration of the task with the acceleration or angular acceleration requirement;
If the rehabilitation robot has n controllable joint degrees of freedom, the multi-stage tasks comprise r different-stage tasks: ; wherein/> Representing the ith task, the task with i=1 has the highest priority, and the task level decreases sequentially with the increase of i; /(I)Angle vectors representing n controllable joints of the rehabilitation robot; /(I)Jacobian matrix representing the ith task,/>Forward kinematics function representing ith task,/>Representation/>Partial derivative of q; /(I)An ith task vector representing a task space;
Calculating a target joint angle for the task with position or posture requirements based on the zero-space projection The following are provided:
Wherein, Representing a target joint angle; /(I)A jacobian matrix representing an ith task; /(I)Representation matrix/>Is a zero space projection matrix of (2); /(I)A zero-space projection matrix representing an i-1 th task jacobian matrix; /(I)Representing the pseudo-inverse of matrix; /(I)A joint position representing an ith task; /(I)Representing the joint position of the i-1 th task;
Or calculating angular velocity for the task having a velocity or angular velocity requirement The following are provided:
Wherein, Representing a target joint angular velocity; /(I)A jacobian matrix representing an ith task; /(I)Representation matrixIs a zero space projection matrix of (2); /(I)A zero-space projection matrix representing an i-1 th task jacobian matrix; /(I)Representing the pseudo-inverse of matrix; /(I)The joint angular velocity representing the ith task; /(I)The joint angular velocity representing the i-1 th task;
or calculating the angular acceleration for the task with acceleration or angular acceleration requirements The following are provided:
Wherein, Representing a target joint angular acceleration; /(I)A jacobian matrix representing an ith task; /(I)Representation matrixIs a zero space projection matrix of (2); /(I)A zero-space projection matrix representing an i-1 th task jacobian matrix; /(I)Representing the pseudo-inverse of matrix; /(I)Joint angular acceleration representing the ith task; /(I)The joint angular acceleration for the i-1 th task is shown.
6. The apparatus of claim 5, wherein the rehabilitation robot comprises a motion execution module comprising at least one degree of freedom of: a shoulder joint outward swing or inward contraction degree of freedom, a forward flexion or backward extension degree of freedom, an inward rotation or outward rotation degree of freedom, an elbow joint flexion or extension degree of freedom, a forearm rotation forward or backward rotation degree of freedom, a wrist joint dorsiflexion or palmar flexion, ulnar flexion or radial flexion degree of freedom;
each degree of freedom may be rehabilitation trained alone or in combination.
7. A rehabilitation robot, comprising: a rehabilitation exoskeleton and a controller;
The controller for performing the rehabilitation robot control method according to any one of claims 1-4.
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