Trajectory Planning of a Redundant Manipulator from Investigations of Upper Limb Motions of Human Beings

2012 ◽  
Vol 45 (2) ◽  
pp. 538-543
Author(s):  
Jui-Chou Chung ◽  
Chun-How Huang ◽  
Hung-Chyun Chou ◽  
Chung-Hsien Kuo
Keyword(s):  
Upper Limb ◽  
Trajectory Planning ◽  
Human Beings ◽  
Redundant Manipulator

Gain-optimization trajectory planning method for hyper-redundant manipulator with joint constraints

2019 ◽  
Vol 27 (5) ◽  
pp. 1075-1086
Author(s):  
王文瑞 WANG Wen-rui ◽  
刘克俭 LIU Ke-jian ◽  
顾金麟 GU Jin-lin ◽  
李 昂 LI Ang ◽  
储海荣 CHU Hai-rong ◽  
...  
Keyword(s):  
Trajectory Planning ◽  
Planning Method ◽  
Redundant Manipulator ◽  
Joint Constraints ◽  
Gain Optimization

Design of a 5-DOF Rehabilitation Robot Mechanism for Upper Limb and its Kinematics Analysis

2010 ◽  
Vol 29-32 ◽  
pp. 293-298 ◽  
Author(s):  
Zhi Lan ◽  
Zhen Liang Li ◽  
Ya Li
Keyword(s):  
Activities Of Daily Living ◽  
Upper Limb ◽  
Trajectory Planning ◽  
Daily Living ◽  
Rehabilitation Robot ◽  
Kinematics Analysis ◽  
Important Data ◽  
Upper Limb Rehabilitation ◽  
Set Up ◽  
Limb Rehabilitation

A novel 5-DOF upper limb rehabilitation robot, which can implement single joint and multi-joint complex motions and provide activities of daily living (ADL) training for hemiplegic patients, was presented. The solutions of the robot’s kinematics equation were set up by the method of D-H according to the 5-DOF rehabilitation robot for upper limb. Based on the software of ADAMS, the mechanism was simulated and analyzed. Thus the movement of robot is determinate in a certain condition of importation. It offered important data for the trajectory planning and the actual intellective control of rehabilitating robot.

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