![]() ![]() The relationship between the keyboard inputs and joint motion of the arm is not feasible to the users. The user interface of RoboCIM allows for numeric keyboard inputs such that each input results in the orientation of a specific joint by a margin equivalent to the input. ![]() The non-versatility of this control software is seen in the non-availability of a programmable environment by users. Two ways by which control can be effected on R5150 arm, this robot can be programmed by using either a hand-held terminal (teach pendant) or a RoboCIM simulation software. The standard Denavit_Hartenberg(D-H) analytical scheme is applied to building mathematical modeling to predict, simulate and recovering the end-effector location (position and orientation) placement of 5DOF R5150 Robot manipulator for different joint variables, the basic challenge associated with the R5150 arm is the limited information available on its governing control model for position placement. In this paper, a forward kinematics problem is concerned with the relationship between the individual joint of robot arm and the position and orientation of the tool or end-effector. The results clearly show that the CTC control successfully reduces the error in the exoskeleton joint positions. ![]() For better understanding of exoskeleton motion capabilities, the exoskeleton workspace is visualized and the workspace is obtained using MATLAB. The exoskeleton exhibits shoulder abduction/adduction, extension/flexion and elbow extension/flexion motions. Computed torque control (CTC) is applied to the system in order to actuate the system to the desired joint positions. The design parameters are taken similar to the parameters of the upper-limb of a normal human being. The designed exoskeleton presents three of the most basic movements of the human arm that facilitate activities of daily living (ADL). The development of upper limb and lower extremity robotic exoskeletons has emerged as a way to improve the quality of life as well as act as a primary rehabilitation device for the individuals suffering from stroke or spinal cord injury. After studying the biomechanics of human upper-limb, a 3 DOF exoskeleton has been designed. This paper also investigates the feasibility of computed torque control for an exoskeleton device. The purpose of this paper is to analyse complete kinematics and dynamics, along with the joint position analysis of a 3 DOF upper-limb robotic exoskeleton. ![]()
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March 2023
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