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《Journal of Shenyang University of Technology》 2017-01
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Tracking control of omnidirectional rehabilitative training walker

SUN Ping;LIU Bo;YANG De-guo;School of Information Science and Engineering,Shenyang University of Technology;School of Software,Shenyang University of Technology;  
In order to solve the strong coupling between the x axis,y axis and direction angle trajectory of omnidirectional rehabilitative training walker in the process of tracking movement,a speed tracking controller design method was proposed,so that the ideal tracking effect in each direction for the omnidirectional rehabilitative training walker could be realized at the same time.Based on the dynamic model and kinematic model of omnidirectional rehabilitative training walker,the input and output linearization method was adopted,and the decoupling state equation between four-wheel speed and its driving force was derived through the model anlysis.In addition,the speed tracking controller was designed,and the decoupling control of speed was realized.The speed controller was combined with the nonlinear feedback control law,which could realize the tracking of movement trajectory.The results of simulation experiments show that the proposed mehod has certain effectiveness,and can solve the probem that the movement velocity and trajectory in the traditional tracking process can not be tracked simultaneously.
【Fund】: 辽宁省高等学校优秀人才支持计划资助项目(2014013);; 辽宁省自然科学基金资助项目(2015020066)
【CateGory Index】: TP242
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