Tremor suppression strategy of the tremor suppression robot

ZHAO Jie, LI Jun-qiang, FAN Ji-zhuang, ZANG Xi-

zhe (State Key Laboratory of Robotics and System,Harbin Institute of Technology,Harbin 150001,China



Abstract:

Based on the development of the performance of magnetorheological damper,the tremor suppression strategy that uses angle displacement sensor and force sensor to sense the information of the tremor and uses the fuzzy neural network as the control algorithm is presented. The information of the maximum tremor torque can be achieved exactly by means fusing the data of displacement sensor and the data of force sensor. Due to the slow change of the maximum tremor torque,the fuzzy neural network with single input variable and single output variable is adopted as the control algorithm,and the mathematic model of fuzzy neural network is worked out. The elbow tremor suppression model is established to provide tremor information for fuzzy neural network training and tremor suppression strategy simulation,then the off-line fuzzy neural network training is finished with the selected training data set,and the tremor suppression strategy is simulated. Simulation results show that the tremor suppression strategy has presented is effectually for the tremor suppression.

Key words:  magnetorheological damper  fuzzy neural network  data fusion  tremor suppression strategy

DOI£º10.11916/j.issn.1005-9113.2012.01.001

Clc Number:TP242

Fund: