Simulation and Research on the Model of Rehabilitation Robot for Upper Limbs Based on Kane Equation
| Autor: | Shu-Sheng Gu, Na Chen, Jian-Hui Wang, Xue-Feng Zhu |
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| Rok vydání: | 2012 |
| Předmět: |
Robot kinematics
Computer science ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION Kinematics Rehabilitation robot Motion (physics) Computer Science::Robotics Medical robotics Kinetic equations Control theory Trajectory Derivation calculation Simulation ComputingMethodologies_COMPUTERGRAPHICS |
| Zdroj: | 2012 Second International Conference on Instrumentation, Measurement, Computer, Communication and Control. |
| DOI: | 10.1109/imccc.2012.369 |
| Popis: | In this paper, taking 5 DOF Rehabilitation robot for upper limbs as the study subject, the recursive kinetic equations of this system are obtained using Kane method combined with Newton kinematic principle. The motion model is established and validated. The efficiency of the whole arithmetic is improved without derivation calculation. This paper also provides an intuitional and effective environment for planning the trajectory of the rehabilitation robot. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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