假肢仿生手控制系统的建模与分析

2020 IEEE International Conference on Electrical Engineering and Photonics (EExPolytech) Pub Date : 2020-10-15 DOI:10.1109/EExPolytech50912.2020.9243968

A. Mkhitaryan, Z. Khanamiryan

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引用次数: 5

摘要

研究并描述了仿生手假肢控制系统的数学模型。利用欧拉-拉格朗日方程得到仿生假肢手的运动方程。对仿生假肢手的控制系统进行了开发和研究。在Matlab/Simulink环境下建立假肢仿生手模型，设计相应的PID控制器。给出了仿真结果并进行了分析。

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Modeling and Analysis of the Prosthetic Bionic Hand Control System

The mathematical model of control system of the prosthetic bionic hand is investigated and described. The equations of the motion of the prosthetic bionic hand was obtained by using Euler-Lagrange equation. The control system of the prosthetic bionic hand is developed and investigated. The proposed model of prosthetic bionic hand in Matlab/Simulink environment allows us to design the relevant PID controller. The results of the simulation are presented and analyzed.

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2020 IEEE International Conference on Electrical Engineering and Photonics (EExPolytech)

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