/Exoskeleton_control_Tmotor

Control of Lower Limb Exoskeleton

Primary LanguagePythonMIT LicenseMIT

Control Algorithms for Lower Limb Exosksleton

Contributions

  • The project involves to design a controller to track a predefined gait trajectory.

  • We are using Tmotor for actuating the joints of the exoskeleton.

  • Control algorithms tested on:

     a) PID
 b) Torque based PD
 c) iLQR
 d) MPC
 d) SAC

Tmotor CAN bus read/write

  • A Python module for controlling the AK-series Tmotor Actuator AK10-9 and AK 80-64 through the CAN bus.

  • TmotorCAN: Python framework for CAN read/write.

  • Channel_config: To initialize the CAN communication with Kvaser USB to CAN.

The commands will be updated soon.

GUI using PyQt

Arduino/Jetson Nano

  • Code for control using these two boards will be updated soon

Issuses addressed in the Tmotor firmware

  • The motor sudenly jerks after the first CAN start command, a inherent problem in the Tmotor firmware.

  • Zero positioning of the motor fails at random instants, build a safetry filter to address it.

  • Establishing a robust CAN communcation with the motors.

  • Increasing sampling time with optimizing memory access of the python code.

Deployment

  1. clone the repository
https://github.com/Mowbray-R-V/Exoskeleton_control_Tmotor.git
  1. For GUI based control
 python3 final_app.py
  1. To control your Tmotor using python use the below as module
 tmotorCAN.py

GUI Instructions

refer

Phase 1

Phase 2

Phase 3

Working Video

Authors

If you use this code in your project please cite us as:

@misc{Exoskeleton_control_Tmotors,
  author = {Mowbray RV, Satvik, Haricharan},
  title = {Control Algorithms for Lower Limb Exosksleton},
  year = {2023},
  publisher = {GitHub},
  journal = {GitHub repository},
  howpublished = {\url{https://github.com/Mowbray-R-V/Exoskeleton_control_Tmotor/tree/main}},
}