Trajectory Planning for Flexion and Extension Training of Lower Limb Rehabilitation Robot
Aimed at the flexion and extension training of lower limb,the trajectory composed by straight lines and arcs was determined in the working space of the robot terminal.A ccording to the requirements of trajectory planning for the continuity of the terminal displacement,velocity and acceleration.This paper assume that the acceleration was changed by sine law.Based on the start and terminal constraint of the line and arc,use the integral method to get the displacement,velocity and acceleration expression.In the XY plane we can get the terminal trajectory of the robot by MATLAB.And the terminal position versus time curve was obtained.Acquired the joint displacement of the robot in certain moments by using the numerical method to solve the inverse kinematics.It proved the feasibility of trajectory planning,and provided data for the drive function in the simulation of robot.
NETL
NSTL
万方数据
维普
