ROBOT TRAJECTORY PLANNING BASED ON 4-1-4 SPLINE INTERPOLATION WITH THE SAME INTERPOLATION TIME
A new type of upper extremity exoskeleton rehabilitation robot is designed,which have 5-degree of freedom.Firstly,the mechanical structure of the robot is analyzed. D-H coordinates of the robot are established based on D-H parameter method.According to its coordinates,its kinematics equation is obta...
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| Main Authors: | , , , , |
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| Format: | Article |
| Language: | zho |
| Published: |
Editorial Office of Journal of Mechanical Strength
2020-01-01
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| Series: | Jixie qiangdu |
| Subjects: | |
| Online Access: | http://www.jxqd.net.cn/thesisDetails#10.16579/j.issn.1001.9669.2020.05.035 |
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