The Modeling And Compliance Control Of Chinese Massage For Humanoid Manipulator

With the development of national economy, China is gradually entering the aging society, the service industry is lagging behind China’s large population base relatively, while the elderly-aid sector is seriously lacked. As a kind of sanitary and physical therapy, Chinese massage has many applications in health care, and it has been recognized by the majority of patients for a long time. Designing a kind of Chinese massage robot instead of massage technicians to take care of the elderly and to solve the problems of lacking human resource in elderly-aid industries has become the currently imperative needs. With the prevalence of Chinese massage in the world recently, experts at home and abroad have done a lot of research on massage robot technology. The High-tech Industry Development Plan-"Service Robots"("863" Project) of the11th Five-Year Plan in China also take the Chinese massage robot as an important research project.The Robotics Institute of Shandong Jianzhu University has undertaken the project, and developed a Chinese massage robot which freed massage technicians from the heavy manual labor. The development of the Chinese massage robot has gone through two generations. With the utilization of Chinese massage theory, Computer, Automatic control theory and Mechatronics, a motion control system which can achieve a variety of massage of the second-generation Chinese massage robot is designed in this paper.In this paper, the author designed the whole structural of the robot, and also designed the robot’s sensor unit, the motion control unit, the robot arm and humanoid manipulator. Designed the control cabinet of Chinese massage robot, and also completed the layout the power cord and the signal-lines within the control cabinet, based on the principle of electromagnetic compatibility, heat dissipation and so on, which made a safe and stable operational environment of the whole motion control system.Kinematics modeling of the entire system is established according to the robot’s mechanical structure. The kinematic equations of the arm and humanoid manipulator are built according to the D-H theory, which could got the relationship between different positions and joints in the base coordinate, and took simulations of trajectory by MATLAB software. Considering the demanded of safety, reliability, comfortableness for massage robot, compliance control for the humanoid manipulator is mainly studied and the corresponding algorithm is used in Chinese massage robot. Taking palm kneading as an example, this paper has done some research and simulation experiments.The motion controller is programmed according to the mechanical structure and algorithm of Chinese massage robot; program of related massage manipulations is given; the program of host computer and some algorithms are studied in order to achieve the control by operators. A mass of clinical test are done in the development process of the Chinese massage robot, and this paper describes the whole process of massage, while taking a typical patient.Chinese massage robot designed in this study is summarized, the further improvement is proposed, and outlook on the future development of the massage robot is described at the last of this paper.