Abstract: To study the control system of the lower limbs rehabilitative robot, through the modeling of lower limbs rehabilitative robot and kinematics analysis, a fuzzy compensation control algorithm is proposed for the friction interference generated during the motion. Firstly, analyze the motion model and establish the dynamic equation. Then, for the friction generated during the movement of interference, a fuzzy compensation friction interference control method based on the traditional fuzzy compensation control method is proposed. The motion trajectory of the lower limb rehabilitation robot is realized by interpolating the output trajectory through the Googol motion controller. According to the simulation experiments, this control method can be a good compensation for the impact of friction interference factors.

摘要： 为研究下肢康复机器人的控制系统，通过对下肢康复机器人建模并进行运动学分析，针对运动过程中产生的摩擦干扰提出了一种模糊补偿控制算法。首先，对设计的机器人的结构模型进行动力学分析并建立动态方程。然后，针对运动过程中产生的摩擦干扰，在传统模糊补偿的控制方法基础上提出了一种模糊补偿摩擦干扰因素的控制方法。通过固高运动控制器对输出轨迹进行插补实现对下肢康复机器人的运动控制。根据仿真实验表明这种控制方法能够很好地补偿摩擦干扰因素的影响。

关键词: 下肢康复机器人, 运动学分析, 摩擦补偿, 控制系统