Year: 2025
Type: conference-paper
Abstract: With the continuous advancement of robotic technologies, research on exoskeleton robots for industrial applications has gained momentum. This paper proposes an upper limb powered exoskeleton model and analyzes the forward/inverse kinematics of its robotic arm. First, a three-dimensional model of the upper limb powered exoskeleton was established. Subsequently, the MD-H model for the robotic arm was constructed. Algebraic methods were then employed to solve the forward/inverse kinematics. Finally, MATLAB was utilized to validate a set of inverse solutions, revealing maximum deviation of 0.042 along the z-axis and minimum deviation of 0.003 along the x-axis between predicted and simulated target positions.
Authors: Yuncong Gu, Yulan Wei, Jiabing Miao, Fang Qi, Mingliang Chen, Bing Li
Institution: Huzhou Normal University
Language: English
Subfield: Control and Systems Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: hybrid
Funder: Huzhou University
OpenAlex ID: W4414128267