Research on Joint Motion Trajectory of Exoskeleton Assisted Walking Robot
The exoskeleton assisted walking robot is coupled to achieve overall coordinated motion at the joints of human lower limbs.Effective and reasonable joint motion trajectories are crucial for the assisted motion of the exoskeleton.By analyzing the structural characteristics and joint motion angles of the assisted walking robot,the forward and inverse kinematic models of the exoskeleton robot in the sagittal plane are established by the D-H parametric method,and the change quantities of each joint are solved by the positional transformation.For the trajectory planning of the joint motion of the exoskeleton assisted walking robot,the three-dimensional simulation model of the exoskeleton two-link mechanism is established by using the link function in Matlab Robotics Toolbox,and the joint trajectory planning of the exoskeleton hip and knee joints is carried out by adopting the fifth-degree polynomial interpolation function.The three motion trajectory curves of joint displacement,velocity and acceleration are obtained in the simulation.The simulation results are smooth and continuous,which are consistent with the characteristics of exoskeleton assisted motion.This research can provide reference for the control design of exoskeleton assisted walking robot.
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