Calculation of Inverse Kinematics Problem of a 5-DOF Rehabilitation Robot for Upper Limb Based on Screw Theory
A novel 5-DOF rehabilitation robot for upper limb, which can implement single joint and multi-joint complex motions and provide activities of daily living (ADL) training for hemiplegic patients, was presented. Based on the method of screw theory, the rehabilitation robot’s kinematics model was set up according to the 5-DOF rehabilitation robot for upper limb. For the kinematics model set up by the method of screw theory, the inverse kinematics calculation was realized by using Paden-Kahan sub-problem method and algebraic elimination method, and the result of explicit solution was given. It offered reliance for the actual intellectual control of the position and speed about the rehabilitation robot.
Zhenyu Du and Bin Liu
Z. Lan et al., "Calculation of Inverse Kinematics Problem of a 5-DOF Rehabilitation Robot for Upper Limb Based on Screw Theory", Applied Mechanics and Materials, Vols. 26-28, pp. 139-144, 2010