Research on real-time kinematics algorithm and gait planning of rope-driven skating training robot.
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| Title: | Research on real-time kinematics algorithm and gait planning of rope-driven skating training robot. |
|---|---|
| Authors: | WANG, Baihang1, SHI, Heyu1 67C10806126@udru.ac.th, SHI, Jizu2, ZHAO, Xue3, TONG, Tong4, WANG, Jiajun5 |
| Source: | Archive of Mechanical Engineering. 2025, Vol. 72 Issue 4, p765-793. 29p. |
| Subjects: | Marquardt algorithm, Robotic path planning, Motion capture (Human mechanics), Robots, Hindlimb, Motion analysis |
| Abstract: | The mechanism of human lower limb skating is analyzed, and the skating information is collected by optical motion capture experiment to obtain the skating trajectory of lower limb target. Aiming at the target skating trajectory and gait motion characteristics, a new type of rope-driven skating training robot configuration based on rope parallel mechanism is proposed. The kinematics analysis of the configuration is carried out, and the motion mapping relationship between the rope and the end moving platform is established. Based on interval analysis and Levenberg-Marquardt iterative solver, a real-time forward kinematics algorithm is proposed to evaluate the real-time performance and convergence performance of the algorithm. The prototype experimental platform is built and the gait planning control experiment is carried out. The experimental results show that the displacement of the moving platform in the x direction, y direction and x direction and the rotation angle tracking of the sagittal plane and coronal plane are good. The movement error is controlled within 6mm, the rotation error is controlled at about 3°, and the lag time is about 0.23 s. The correctness of the theoretical analysis of real-time kinematics and the practicability of the algorithm are verified, which lays a foundation for further optimization of the control system. [ABSTRACT FROM AUTHOR] |
| Copyright of Archive of Mechanical Engineering is the property of Polish Academy of Sciences and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.) | |
| Database: | Engineering Source |
| FullText | Links: – Type: pdflink Text: Availability: 0 |
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| Header | DbId: egs DbLabel: Engineering Source An: 193842327 AccessLevel: 6 PubType: Academic Journal PubTypeId: academicJournal PreciseRelevancyScore: 0 |
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| Items | – Name: Title Label: Title Group: Ti Data: Research on real-time kinematics algorithm and gait planning of rope-driven skating training robot. – Name: Author Label: Authors Group: Au Data: <searchLink fieldCode="AR" term="%22WANG%2C+Baihang%22">WANG, Baihang</searchLink><relatesTo>1</relatesTo><br /><searchLink fieldCode="AR" term="%22SHI%2C+Heyu%22">SHI, Heyu</searchLink><relatesTo>1</relatesTo><i> 67C10806126@udru.ac.th</i><br /><searchLink fieldCode="AR" term="%22SHI%2C+Jizu%22">SHI, Jizu</searchLink><relatesTo>2</relatesTo><br /><searchLink fieldCode="AR" term="%22ZHAO%2C+Xue%22">ZHAO, Xue</searchLink><relatesTo>3</relatesTo><br /><searchLink fieldCode="AR" term="%22TONG%2C+Tong%22">TONG, Tong</searchLink><relatesTo>4</relatesTo><br /><searchLink fieldCode="AR" term="%22WANG%2C+Jiajun%22">WANG, Jiajun</searchLink><relatesTo>5</relatesTo> – Name: TitleSource Label: Source Group: Src Data: <searchLink fieldCode="JN" term="%22Archive+of+Mechanical+Engineering%22">Archive of Mechanical Engineering</searchLink>. 2025, Vol. 72 Issue 4, p765-793. 29p. – Name: Subject Label: Subjects Group: Su Data: <searchLink fieldCode="DE" term="%22Marquardt+algorithm%22">Marquardt algorithm</searchLink><br /><searchLink fieldCode="DE" term="%22Robotic+path+planning%22">Robotic path planning</searchLink><br /><searchLink fieldCode="DE" term="%22Motion+capture+%28Human+mechanics%29%22">Motion capture (Human mechanics)</searchLink><br /><searchLink fieldCode="DE" term="%22Robots%22">Robots</searchLink><br /><searchLink fieldCode="DE" term="%22Hindlimb%22">Hindlimb</searchLink><br /><searchLink fieldCode="DE" term="%22Motion+analysis%22">Motion analysis</searchLink> – Name: Abstract Label: Abstract Group: Ab Data: The mechanism of human lower limb skating is analyzed, and the skating information is collected by optical motion capture experiment to obtain the skating trajectory of lower limb target. Aiming at the target skating trajectory and gait motion characteristics, a new type of rope-driven skating training robot configuration based on rope parallel mechanism is proposed. The kinematics analysis of the configuration is carried out, and the motion mapping relationship between the rope and the end moving platform is established. Based on interval analysis and Levenberg-Marquardt iterative solver, a real-time forward kinematics algorithm is proposed to evaluate the real-time performance and convergence performance of the algorithm. The prototype experimental platform is built and the gait planning control experiment is carried out. The experimental results show that the displacement of the moving platform in the x direction, y direction and x direction and the rotation angle tracking of the sagittal plane and coronal plane are good. The movement error is controlled within 6mm, the rotation error is controlled at about 3°, and the lag time is about 0.23 s. The correctness of the theoretical analysis of real-time kinematics and the practicability of the algorithm are verified, which lays a foundation for further optimization of the control system. [ABSTRACT FROM AUTHOR] – Name: AbstractSuppliedCopyright Label: Group: Ab Data: <i>Copyright of Archive of Mechanical Engineering is the property of Polish Academy of Sciences and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract.</i> (Copyright applies to all Abstracts.) |
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| RecordInfo | BibRecord: BibEntity: Identifiers: – Type: doi Value: 10.24425/ame.2025.155872 Languages: – Code: eng Text: English PhysicalDescription: Pagination: PageCount: 29 StartPage: 765 Subjects: – SubjectFull: Marquardt algorithm Type: general – SubjectFull: Robotic path planning Type: general – SubjectFull: Motion capture (Human mechanics) Type: general – SubjectFull: Robots Type: general – SubjectFull: Hindlimb Type: general – SubjectFull: Motion analysis Type: general Titles: – TitleFull: Research on real-time kinematics algorithm and gait planning of rope-driven skating training robot. Type: main BibRelationships: HasContributorRelationships: – PersonEntity: Name: NameFull: WANG, Baihang – PersonEntity: Name: NameFull: SHI, Heyu – PersonEntity: Name: NameFull: SHI, Jizu – PersonEntity: Name: NameFull: ZHAO, Xue – PersonEntity: Name: NameFull: TONG, Tong – PersonEntity: Name: NameFull: WANG, Jiajun IsPartOfRelationships: – BibEntity: Dates: – D: 01 M: 10 Text: 2025 Type: published Y: 2025 Identifiers: – Type: issn-print Value: 00040738 Numbering: – Type: volume Value: 72 – Type: issue Value: 4 Titles: – TitleFull: Archive of Mechanical Engineering Type: main |
| ResultId | 1 |
