Kinematics and workspace analysis of 7-DOF upper-limbed rehabilitation robot

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 机器人学研究室

	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)
	2015
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
关键词	upper-limbed rehabilitation robot kinematics simulation workspace
页码	353-358
中文摘要	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.
收录类别	EI ; CPCI（ISTP）
产权排序	3
会议录	2015 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER)
会议录出版者	IEEE
会议录出版地	Piscataway, NJ, USA
语种	英语
ISSN号	2379-7711
ISBN号	978-1-4799-8730-6
WOS记录号	WOS:000380502300069
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/18514]
专题	沈阳自动化研究所_机器人学研究室
推荐引用方式 GB/T 7714	Yang QZ,Fang, Jiajia,Ma, Xinpo,et al. Kinematics and workspace analysis of 7-DOF upper-limbed rehabilitation robot[C]. 见:2015 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER). Shenyang, China. June 8-12, 2015.