SUMMARYIn the present work, the ankle rehabilitation robot (ARR) dynamic model that implements a new series of connection control strategies is introduced. The dynamic models are presented in this regard. This model analyzes the robot LuGre friction model and the nonlinear disturbance model. To improve the ARR system’s rapidity and robustness, a composite 2-degree of freedom (2-DOF) internal model control (IMC) controller is presented. The control performance of the compound 2-DOF IMC controller is simulated and analyzed in the present work. The simulation shows that the composite 2-DOF IMC controller has high following performance. For practical testing purposes, 1-DOF passive training and predetermined trajectory following have been completed for different swing amplitudes and frequencies. Moreover, the thrust and tension torque of the robotic dynamic and static loading characteristics are studied in active control mode. The experimental results show the effectiveness of passive training of the given trajectory and impedance training active control strategy. This paper gives the specific functions of ARR.

中文翻译：

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踝关节康复机器人内模控制与实验研究

摘要在目前的工作中，介绍了实现一系列新的连接控制策略的踝关节康复机器人（ARR）动力学模型。在这方面提出了动态模型。该模型分析了机器人LuGre摩擦模型和非线性扰动模型。为了提高 ARR 系统的快速性和鲁棒性，提出了一种复合 2 自由度 (2-DOF) 内模控制 (IMC) 控制器。本文对复合2自由度IMC控制器的控制性能进行了仿真分析。仿真表明复合2自由度IMC控制器具有较高的跟随性能。出于实际测试目的，已针对不同的摆动幅度和频率完成了 1-DOF 被动训练和预定轨迹跟踪。而且，在主动控制模式下研究了机器人动静载荷特性的推力和拉力矩。实验结果表明了给定轨迹的被动训练和阻抗训练主动控制策略的有效性。本文给出了ARR的具体功能。