Research On Trajectory Tracking Control Of Lower Extremity Exoskeleton Robot

This paper proposes a trajectory tracking control algorithm for lower extremity exoskeleton robot, which simplifies the lower extremity exoskeleton into a two degree of freedom linkage mechanism and uses Lagrangian method to model the dynamics of the linkage mechanism. Automatic adjustment of Pill parameters is achieved by selecting membership functions, setting fuzzy rules and defuzzification. The Simulink fuzzy control block diagram is constructed to compare the tracking effect of the classical PID algorithm and the fuzzy adaptive Pill algorithm on the input curve. Through the simulation curve, compared with the traditional Pill, the fuzzy adaptive PID has the advantages of small overshoot, fast response and good stability. Finally, through the exoskeleton fuzzy Pill hip sinusoidal curve experiment, the maximum error between the experimental data and the simulation results is 5%, which basically realizes the effective tracking of the trajectory.