基于螺旋理论和Simscape Multibody™的外骨骼机器人直接运动学和雅可比分析

2019 IEEE 39th Central America and Panama Convention (CONCAPAN XXXIX) Pub Date : 2019-11-01 DOI:10.1109/CONCAPANXXXIX47272.2019.8977008

M. Cardona, Cecilia E. Garcia Cena

{"title":"基于螺旋理论和Simscape Multibody™的外骨骼机器人直接运动学和雅可比分析","authors":"M. Cardona, Cecilia E. Garcia Cena","doi":"10.1109/CONCAPANXXXIX47272.2019.8977008","DOIUrl":null,"url":null,"abstract":"This papers deal with the direct kinematics analysis of exoskeleton robots for rehabilitation. An alternative methodology to address the direct kinematic problem based on the Screws theory is presented. Then, a Jacobian analysis is performed, and an equivalent model in Simscape Multibody (Simulink) in order to perform further dynamics and control analysis is found, MATLAB as a testing tool and programming language is used.","PeriodicalId":272652,"journal":{"name":"2019 IEEE 39th Central America and Panama Convention (CONCAPAN XXXIX)","volume":"31 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"9","resultStr":"{\"title\":\"Direct Kinematics and Jacobian Analysis of Exoskeleton Robots using Screw Theory and Simscape Multibody ™\",\"authors\":\"M. Cardona, Cecilia E. Garcia Cena\",\"doi\":\"10.1109/CONCAPANXXXIX47272.2019.8977008\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This papers deal with the direct kinematics analysis of exoskeleton robots for rehabilitation. An alternative methodology to address the direct kinematic problem based on the Screws theory is presented. Then, a Jacobian analysis is performed, and an equivalent model in Simscape Multibody (Simulink) in order to perform further dynamics and control analysis is found, MATLAB as a testing tool and programming language is used.\",\"PeriodicalId\":272652,\"journal\":{\"name\":\"2019 IEEE 39th Central America and Panama Convention (CONCAPAN XXXIX)\",\"volume\":\"31 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2019-11-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"9\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2019 IEEE 39th Central America and Panama Convention (CONCAPAN XXXIX)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/CONCAPANXXXIX47272.2019.8977008\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2019 IEEE 39th Central America and Panama Convention (CONCAPAN XXXIX)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/CONCAPANXXXIX47272.2019.8977008","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}

引用次数: 9

摘要

本文对外骨骼康复机器人进行了运动学分析。提出了一种基于螺旋理论的解决直接运动学问题的替代方法。然后，利用MATLAB作为测试工具和编程语言，在Simscape Multibody (Simulink)中建立等效的雅可比矩阵模型，进行进一步的动力学和控制分析。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

查看原文本刊更多论文

Direct Kinematics and Jacobian Analysis of Exoskeleton Robots using Screw Theory and Simscape Multibody ™

This papers deal with the direct kinematics analysis of exoskeleton robots for rehabilitation. An alternative methodology to address the direct kinematic problem based on the Screws theory is presented. Then, a Jacobian analysis is performed, and an equivalent model in Simscape Multibody (Simulink) in order to perform further dynamics and control analysis is found, MATLAB as a testing tool and programming language is used.

求助全文

通过发布文献求助，成功后即可免费获取论文全文。去求助

来源期刊

2019 IEEE 39th Central America and Panama Convention (CONCAPAN XXXIX)

自引率

0.00%

发文量