Trajectory Control And Simulation Of Eating-aid Robot

Eating-aid robot belongs to serving robot category. It helps the incomplete patient to eat by simulating normal human's motion of fetching meal, giving meal and feeding meal movements.Throughout the world, the number of disabled persons is numerous, and the upper limb disabled persons occupy a great proportion.Therefore, designing a sort of practical eating-aid robot to help the upper limb disabled persons has great significance.After analyzing the advantages and disadvantages of existing eating-aid robot, this paper designs the mechanical noumenonn of the robot as the structure of rotatory dining table, three degree of freedom manipulator and piece shut meal spoon.On the basis of the situation that true man has dinner, with Simulink and Simechanics simulating tools to help eating-aid robot to have the space analysis of the movement,have designed the rational size of every part of the robot. Then set up coordinate vary matrix, extrapolate with D-H method, deduce the direct and inverse keys of its kinematics function. And use Simulink and SimMechanics to carry on the simulating research of kinematics, showing the kinematics analysis is correct. Later during the meal at the spoon actual location foundation that the appearance is changed on the basis of true man, help to plan the orbit in the whole course to this robot. Orbit plan goes on among joint space and the meal spoon fetches meal and feeds meal in the kinematics way of CP, adopting cubic spline to orbit plan; Meal spoon restores to the throne section, fetches food order and gives meal section in the way of PTP, adopting the ordinary cubic polynomial interpolation.The meal spoon orbit of those two ways is smooth and steady. Those who eating-aid robot serves are the disabled,so it must be tight to control logic, so as to avoid the danger. Therefore introduce the mechanism theory of the limited state finally, with MATLAB/Stateflow to model and simulate the logic of time sequence of input control, have produced the logic of time sequence that can be controlled practically.