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分析了五自由度上肢康复机器人的系统结构,构建出新的系统简化模型,并利用拉格朗日动力学法建立康复机器人简化动力学方程,提出了一类机器人简化建模的新方法。在Matlab中用V-realm Builder工具建立5-DOF上肢康复机器人三维虚拟仿真模型并进行虚拟仿真。仿真结果表明,简化的动力学模型在康复机器人控制中应用效果良好,理论响应曲线与实际响应曲线误差较小。该方法建模过程简单、快捷、有效,适合现代计算技术的发展,为康复机器人系统的优化设计及运动控制提供了理论依据。
The system structure of upper limb rehabilitation robot with five degrees of freedom is analyzed, a new system simplified model is constructed, and the simplified kinetic equation of rehabilitation robot is established by using Lagrange dynamic method. A new method of simplified robot modeling is proposed. In the Matlab V-realm Builder tool to establish 5-DOF upper limb rehabilitation robot three-dimensional virtual simulation model and virtual simulation. The simulation results show that the simplified dynamic model has good effect in rehabilitation robot control, and the error between the theoretical response curve and the actual response curve is small. The modeling process is simple, fast and effective, which is suitable for the development of modern computing technology and provides a theoretical basis for the optimal design and motion control of rehabilitation robot system.