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Kinematics and workspace analysis of 7-DOF upper-limbed rehabilitation robot
Yang QZ(杨启志); Fang, Jiajia; Ma, Xinpo; Zhao XG(赵新刚); Zhao JH(赵金海); Qian, Luyi; Song JP(宋俊朋)
作者部门机器人学研究室
会议名称2015 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER)
会议日期June 8-12, 2015
会议地点Shenyang, China
会议录名称2015 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER)
出版者IEEE
出版地Piscataway, NJ, USA
2015
页码353-358
收录类别EI ; CPCI(ISTP)
EI收录号20161402187856
WOS记录号WOS:000380502300069
产权排序3
ISSN号2379-7711
ISBN号978-1-4799-8730-6
关键词Upper-limbed Rehabilitation Robot Kinematics Simulation Workspace
摘要The special characteristics of kinematics and workspace of 7-DOF upper-limbed rehabilitation robot is studied with the combination of the methods of theoretical analysis and simulation. Firstly, D-H transformation matrix is applied to establish the kinematics model. Secondly, the three-dimensional model of the rehabilitation robot is established in Pro/E and imported into ADAMS/view for the kinematics analysis. And the final simulation results are concurred with theoretical curves, which verified the correctness of theoretical analysis. Finally, the workspace analysis based on the theory of Monte Carlo provided a basis for the robot trajectory scheme.
语种英语
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文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/18514
专题机器人学研究室
作者单位1.Institute of Intelligent Robotics, School of Mechanical Engineering, Jiangsu University, China
2.School of Agricultural Equipment Engineering, Jiangsu University, Zhenjiang, 212013, China
3.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China
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Yang QZ,Fang, Jiajia,Ma, Xinpo,et al. Kinematics and workspace analysis of 7-DOF upper-limbed rehabilitation robot[C]. Piscataway, NJ, USA:IEEE,2015:353-358.
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