Research on Kinematics of Assistant Robot Based on Vector Product Method

Jia Zhen Xing; Zhong Min Wang; Yu Ming Qi; San Peng Deng

doi:10.4028/www.scientific.net/KEM.621.493

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Development and Experimental Study of Dynamic Characteristics for Servo Valve Torque Motor
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Design of a Spool Valve Overlap Value Pneumatic Measuring System Based on Constant Pressure Control
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Research on Kinematics of Assistant Robot Based on Vector Product Method
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Research on Modeling and Coordinated Driving Control for Wheeled Mobile Robot on Complex Terrain
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The Correlative Positioning Error Compensation of the Vision System and the Robot Mechanism Based on BP Neural Network
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Stereoscopic Positioning of Intelligent Fruit Harvesting Robot: a Review
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HomeKey Engineering MaterialsKey Engineering Materials Vol. 621Research on Kinematics of Assistant Robot Based on...

Research on Kinematics of Assistant Robot Based on Vector Product Method

Abstract:

To the world population aging serious problem, a research on assistant robot is more and more attention. Assistant Robot is a device that is similar to human exoskeleton. This device is worn by the operator, and keep consistent with the human walking and replace body to undertake cargo load. In this paper, based on the method of vector product, a 3-DOF assistant robot’s motion is analyzed. Jacobi matrix of robot motion is calculated. According to the experimental data from human walking, the assistant robot’s displacement and velocity vector and variation are simulated, and its variation are also analyzed. In theory, it proved that the velocity and displacement curves are continuous and smooth. Besides, it also provides references for control system design of the assistant robot.

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Periodical:

Key Engineering Materials (Volume 621)

Pages:

493-498

DOI:

https://doi.org/10.4028/www.scientific.net/KEM.621.493

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Online since:

August 2014

Authors:

Jia Zhen Xing*, Zhong Min Wang, Yu Ming Qi, San Peng Deng

Keywords:

Assistant Robot, Jacobin Matrix, Kinematics, Vector Product

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* - Corresponding Author

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