Kinematics and workspace analysis of 7-DOF upper-limbed rehabilitation robot
文献类型：会议论文
| 作者 | 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)
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| 出版日期 | 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)
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| 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 |
| 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. |
入库方式： OAI收割
来源：沈阳自动化研究所
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