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

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 robots 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.

关键词： Rehabilitation robot Screw theory Inverse kinematics Paden-Kahan sub-problem

作者: Zhi Lan Zhenliang Li Ya Li

作者单位: College of Mechanical Engineering, Tianjin University of Science and Technology, Tianjin, China

会议类型: 国际会议

会议名称: 2010 International Conference on Advanced Mechanical Engineering(2010年先进机械工程国际学术会议 AME 2010)

会议地点: 洛阳

会议语种:英文

页码: 139-144

在线出版日期: 2010-09-04（万方平台首次上网日期，不代表论文的发表时间）