Impedance-Sliding Mode Control based Fall Prevention Motion Control Algorithm for Walking-aid Robot

被引：0
|
作者：
Xu, Wenxia [1 ]
Huang, Jian [2 ]
机构：
[1] Wuhan Inst Technol, Hubei Key Lab Intelligent Robot, Wuhan 430205, Hubei, Peoples R China
[2] Huazhong Univ Sci & Technol, Sch Automat, Wuhan 430074, Hubei, Peoples R China
来源：
2018 3RD IEEE INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS AND MECHATRONICS (IEEE ICARM) | 2018年
关键词：
D O I：
暂无
中图分类号：
TP3 [计算技术、计算机技术];
学科分类号：
0812 ;
摘要：
According to requirements for improved safety and compliance, an impedance-sliding mode control based fall prevention motion control for a walking-aid robot is proposed. Firstly, the walking-aid robot we used in this paper is introduced. Then the dynamics model and impedance model for human-robot system arc established. To improve the compliance of fall prevention motion control, a dynamic surface is designed to combine impedance control and sliding mode control algorithms. And a fall prevention motion control law for walking-aid robot is proposed, to realize impedance control when the robot system reaches to the sliding mode surface. The experimental results verify the effectiveness of the proposed algorithm.
引用
收藏
页码：268 / 273
页数：6
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