青岛大学学报（自然科学版）2023，Vol.36Issue(4)：54-60,7.DOI:10.3969/j.issn.1006-1037.2023.04.09
人机末端交互运动中轨迹跟随控制算法
Trajectory Following Control Algorithm in the Interactive Motion of the Uuman-machine End
摘要
Abstract
In order to solve the problems of low flexibility,bulky size and poor rehabilitation effect of the upper limb rehabilitation robot,a control algorithm of using the collaborative robot UR10 as a new reha-bilitation aid was proposed.The patient's arm kinematic model and the UR10 robotic arm's kinematic mod-el were established to determine the dexterous workspace of interaction between the patient's arm and the UR10 collaborative robot's end-effector,allowing for the reasonable relative positioning of the robot and the patient.In the movement space that can be reached by the palm of the patient's upper limbs,two spa-tial trajectories with the furthest distance were selected,and Robotics Toolbox was used to simulate the end of the robot along the representative trajectory to verify the accuracy of trajectory following control.Field tests also verified the effectiveness of track following.关键词
康复机器人/运动学分析/轨迹跟随Key words
rehabilitation robot/kinematic analysis/track tracking分类
信息技术与安全科学引用本文复制引用
刘环宇,陈明祥,高孟扬,田启磊,王钰..人机末端交互运动中轨迹跟随控制算法[J].青岛大学学报（自然科学版）,2023,36(4):54-60,7.基金项目
山东省科技发展计划项目(批准号:40214010075)资助. （批准号:40214010075）
