International Journal of Advanced Robotic Systems ( IF 2.1 ) Pub Date : 2022-01-19 , DOI: 10.1177/17298814211067668 Gang Tang 1 , Jinqin Sheng 1 , Chuan Wu 1 , Dongmei Wang 2 , Shaoyang Men 3
This article analyzes the forward kinematics and inverse kinematics of the seven-degree-of-freedom exoskeleton rehabilitation manipulator. Denavit–Hartenberg coordinates are used to model the forward kinematics, and the working space of the end effector of the manipulator is analyzed according to the joint motion range of the human arm. In the inverse solution of the seven-degree-of-freedom exoskeleton rehabilitation manipulator, the self-motion angle ϕ
中文翻译:
七自由度外骨骼康复机械手的运动学分析
本文分析了七自由度外骨骼康复机械手的正向运动学和逆向运动学。采用Denavit-Hartenberg坐标对正向运动学进行建模,根据人体手臂的关节运动范围分析机械臂末端执行器的工作空间。在七自由度外骨骼康复机械手的逆解中,自运动角φ