外骨骼式上肢康复机器人的轨迹规划及仿真

Trajectory Planning and Simulation of the Exoskeletal Type Upper Limb Rehabilition Robot

针对四自由度外骨骼式上肢康复机器人的运动需求,基于D-H参数法对其进行正/逆向运动学求解,并根据机器人微分运动学,建立表达关节空间的角速度与末端手在笛卡尔空间的线速度之间速度关系对应的雅可比矩阵,实现了末端手在笛卡尔空间的轨迹规划与运动描述,并通过MATLAB仿真验证了该机械臂运动关系的正确性。

Based on D-H parameter method,aiming at the demand of four DOF exoskeletal type upper limb rehabilitation robot movement and then the positive/inverse kinematics solution was carried out.According to the differential kinematics of robot,the jacobian matrix is established to express the relations of the angular velocity of joint space and the end-effector＇s linear velocity in the Cartesian space.By this method,the trajectory planning and the motion description of the end-effector in Cartesian space are realized and through the MATLAB simulation verified the correctness of the manipulator＇s kinematic relationships.