摘要
康复机器人是目前研究的热点方向之一,针对五自由度上肢康复机械手臂,在完成手臂几何建模及运动学分析的基础上,求解了五个坐标变换矩阵的逆矩阵,推导了五个自由度θ1-θ5精确的解析解,完成了五自由度康复机械手臂的运动学逆解过程,为实际的医疗康复机构的位置及速度控制控制提供了依据。
The rehabilitating robot is one of the focus - researching projects at present. The invertible matrix of five coordinate transformation matrix was solved, which based on the geometric model and the kinematics analysis of the 5 - DOF rehabilitant mechanical arm. The accurate analytical solutions of 5 - DOF rehabilitant mechanical arm from θ1 to θ3 have been obtained and the invertible solving process has been accomplished. It offered reliance for the actual intellectual control of the position and speed about the rehabilitating robot.
出处
《黑龙江大学自然科学学报》
CAS
北大核心
2007年第1期54-57,共4页
Journal of Natural Science of Heilongjiang University
基金
黑龙江省攻关资助项目(GB04A502-2)
关键词
康复机器人
运动学分析
运动学逆解
rehabilitant robot, kinematics analysis
invertible solution of kinematics
