Utilization of kinematical redundancy of a rehabilitation robot to produce compliant motions under limitation on actuator performance
Utilization of kinematical redundancy of a rehabilitation robot to produce compliant motions under limitation on actuator performance
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DOI：
10.1109/icorr.2017.8009321
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发表时间：
2017-07
期刊：
影响因子：
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通讯作者：
Takaaki Goto;Hiroki Dobashi;T. Yoshikawa;R. Loureiro;W. Harwin;Yuga Miyamura;K. Nagai
中科院分区：
文献类型：
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作者：
Takaaki Goto;Hiroki Dobashi;T. Yoshikawa;R. Loureiro;W. Harwin;Yuga Miyamura;K. Nagai
研究了产生柔顺运动的冗余驱动机器人（RDR）的机械结构和控制方法，展示了RDR的设计参数如何影响所产生的运动，以及RDR的执行器的力学和性能限制。RDR的结构和控制方法可以适当地产生柔顺运动，但RDR的设计参数对其力学和性能限制的影响尚不清楚。因此，通过仿真和实验验证了在RDR原型情况下产生柔顺运动的可行性，并通过仿真验证了RDR设计参数对力学和性能的限制。
This paper addresses the mechanical structure and control method of a redundant drive robot (RDR) to produce compliant motions, and show how the design parameters of the RDR can effect the produced motions and the mechanical and performance limitations of the actuators of the RDR. The structure and control method of the RDR can have been proper to produce compliant motions, but the effect of the design parameters of the RDR to the mechanical and performance limitations have not been clear. Therefore, the feasibility of producing compliant motions in the case of the prototype of the RDR is confirmed by conducting simulations and experiments, and then the design parameters of the RDR to the mechanical and performance limitations are verified by conducting simulations.