Calculation of Inverse Kinematics Problem of a 5-DOF Rehabilitation Robot for Upper Limb Based on Screw Theory

被引：1
|
作者：
Lan, Zhi [1 ]
Li, Zhenliang [1 ]
Li, Ya [1 ]
机构：
[1] Tianjin Univ Sci & Technol, Coll Mech Engn, Tianjin, Peoples R China
来源：
ADVANCED MECHANICAL ENGINEERING, PTS 1 AND 2 | 2010年 / 26-28卷
关键词：
Rehabilitation robot; Screw theory; Inverse kinematics; Paden-Kahan sub-problem;
D O I：
10.4028/www.scientific.net/AMM.26-28.139
中图分类号：
T [工业技术];
学科分类号：
08 ;
摘要：
A novel 5-DOF rehabilitation robot for upper limb, which can implement single joint and multi-joint complex motions and provide activities of daily living (ADL) training for hemiplegic patients, was presented. Based on the method of screw theory, the rehabilitation robot's kinematics model was set up according to the 5-DOF rehabilitation robot for upper limb. For the kinematics model set up by the method of screw theory, the inverse kinematics calculation was realized by using Paden-Kahan sub-problem method and algebraic elimination method, and the result of explicit solution was given. It offered reliance for the actual intellectual control of the position and speed about the rehabilitation robot.
引用
收藏
页码：139 / 144
页数：6
相关论文
共 50 条
  • [1] Design of a 5-DOF Rehabilitation Robot Mechanism for Upper Limb and its Kinematics Analysis
    Lan Zhi
    Li Zhenliang
    Li Ya
    [J]. APPLIED MECHANICS AND MECHANICAL ENGINEERING, PTS 1-3, 2010, 29-32 : 293 - 298
  • [2] Modeling and Kinematics Analysis of a Novel 5-DOF Upper Limb Exoskeleton Rehabilitation Robot
    Xu, Ningcun
    Peng, Xiwei
    Peng, Liang
    Hou, Zengguang
    Gui, Meijiang
    [J]. PROCEEDINGS OF THE 39TH CHINESE CONTROL CONFERENCE, 2020, : 1052 - 1057
  • [3] Inverse Kinematics Analysis of 5-DOF Robot Manipulators Based on Virtual Joint Method
    Liu Zhizhong
    Liu Hongyi
    Luo Zhong
    [J]. ELECTRICAL INFORMATION AND MECHATRONICS AND APPLICATIONS, PTS 1 AND 2, 2012, 143-144 : 265 - 268
  • [4] An Analysis of the Inverse Kinematics for a 5-DOF Manipulator
    Carlos A. Acosta Calderon
    John Q. Gan
    [J]. Machine Intelligence Research, 2005, (02) : 114 - 124
  • [5] Inverse Kinematics of a 5-DOF Hybrid Manipulator
    Antonov, A. V.
    Fomin, A. S.
    [J]. AUTOMATION AND REMOTE CONTROL, 2023, 84 (03) : 281 - 293
  • [6] An analysis of the inverse kinematics for a 5-DOF manipulator
    De Xu
    Carlos A. Acosta Calderon
    John Q. Gan
    Huosheng Hu
    Min Tan
    [J]. International Journal of Automation and Computing, 2005, 2 (2) : 114 - 124
  • [7] An Analysis of the Inverse Kinematics for a 5-DOF Manipulator
    Xu, De
    Calderon, Carlos A. Acosta
    Gan, John Q.
    Hu, Huosheng
    Tan, Min
    [J]. INTERNATIONAL JOURNAL OF AUTOMATION AND COMPUTING, 2005, 2 (02) : 114 - 124
  • [8] Inverse Kinematics of a 5-DOF Hybrid Manipulator
    A. V. Antonov
    A. S. Fomin
    [J]. Automation and Remote Control, 2023, 84 : 281 - 293
  • [9] Kinematics and design of a 5 DoF exoskeleton for the rehabilitation of the upper limb
    Fekrache, Djahid
    Guiatni, Mohamed
    [J]. 2015 4TH INTERNATIONAL CONFERENCE ON ELECTRICAL ENGINEERING (ICEE), 2015, : 263 - +
  • [10] A novel 5-DOF exoskeletal rehabilitation robot system for upper limbs
    Li, Qingling
    Kong, Minxiu
    Du, Zhijiang
    Sun, Lining
    [J]. High Technology Letters, 2009, 15 (03) : 245 - 249
12345