康复外骨骼机器人ALICE:雅可比矩阵和工作空间分析

2021 IEEE Fifth Ecuador Technical Chapters Meeting (ETCM) Pub Date : 2021-10-12 DOI:10.1109/ETCM53643.2021.9590800

M. Cardona

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引用次数: 2

摘要

本文对ALICE外骨骼康复机器人进行了雅可比分析。描述了雅可比矩阵，确定了工作空间。然后，研究了吉川指数和条件指数来分析机械手的性能。采用MAT LAB作为编程工具和测试平台。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Exoskeleton Robot for Rehabilitation ALICE: Jacobian and Workspace Analysis

In this paper, the Jacobian analysis of the ALICE exoskeleton rehabilitation Robot is presented. The Jacobian matrix is described and the workspace is determined. Then, the Yoshikawa and Condition Index are studied to analyze the performance of the manipulator. MAT LAB as programming tool and testing platform is used.

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来源期刊

2021 IEEE Fifth Ecuador Technical Chapters Meeting (ETCM)

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