METHOD FOR CONTROLLING WEARABLE ROBOT

摘要

PURPOSE: A method for controlling a wearable robot is provided to drive the robot with specific amplification ratio by driving the end through applying intention of a wearer to the end of the robot as operating power. CONSTITUTION: A method for controlling a wearable robot comprises: a step of calculating the support power to support an object in the end of the robot by amplifying operating power which applies to the robot to specific amplification ratio; and a step of deriving the operating power required to lift the object by the end of the robot through a virtual spring damper model by applying a virtual mass damper spring model to the end of the robot and dividing to a required torque at each joint of the robot through Jacobian transpose. [Reference numerals] (AA) Robot upper limb frame; (BB) Second F/T sensor; (CC) First F/T sensor; (DD) Handle