The Study Of Dual-arm Coordinated Control System Of Chinese Massage Robot

With the rapid development of society and the improvement of people’s living standards, the proportion of the elderly population in the total of China is increasing. By the end of2012, the number of the elderly population in China has reached194million, accounting for14.3%as to the total, The aging problem has become one of the prominent problems confronted by our society. In response to the urgent growing needs of rehabilitative care by the elderly, CHINA planned to develop "Service Robots " aimed at helping the old and the disabled in the "11th Five-Year Plan", the Chinese massage robot is one of them. It is a rehabilitation physiotherapy equipment based on the Chinese massage theory, especially for the elderly in need of treatment of lumbar and leg.Applications of Chinese massage robot in clinical should alleviate the status quo of the lack of resources caused by aging population to some extent. It is of great significance for the Chinese massage robot adopting dual-arm structure, which is helpful to enrich tactics and forms of the massage and improve Treatment effect. The solve of dual-arm coordinate control problem could Strengthen the security and intelligence of the system. This paper is aimed at solving problems of coordination between two arms existed in the first generation of the Chinese massage.The author analyzed the two arms’kinematics problem with constraints, Completed the path planning of one arm with the method of C-Space (Configuration Space) and A*algorithm. With modeling of the massage tactics and the research of dual-arm Coordinated Control,the author completed the designation of the dual-arm coordinated control system on the basis of the first generation of Chinese massage robot. The control system designed in the study can ensure the two massage arms complete acupoint’s positioning process before performing massage without collision. It is also capable of completing the implementation of the five massage types including Palm-Press, Finger-Press, Palm-Pat, Vibration and Fomentation.The main contents of the paper are as follows:1. First introduced the research status of the Chinese massage robot, presented the overall structure of the message robot. For the various functional modules of the massage robot control system were described in detail.2. Completed the calculation of the arms’forward and inverse kinematics with constrains by analysis of the massage arm’s kinematics problems. According to the massage robot’s mechanical structure and parameters, DH coordinate system is set up for the each manipulator with D-H modeling method. D-H parameters were obtained accordance with the relevant rules. The forward and inverse kinematics solutions of massage arms are obtained by adopting proper methods.With the method of "box", a simplified model is created for the two message manipulators, and whether the two arms collided is detected by calculating the distance between each link of the two manipulators According to the result, processed the inverse kinematics solutions obtained before, completed the solution of the two manipulators’inverse kinematics problems with constrains.3. Solved the two manipulators’path planning problem by the A*search algorithm in the Configuration Space created already, simulated the result with MATLAB. Take the dual-arm coordination problem into the two arms’path planning by analyzing the characteristics of the two massage manipulators’movement in the process on the massage treatment. Divided the two arms into arm A and arm B. The arm A has a higher priority in moving while the arm B has a lower one.First of all, complete the path planning for the arm A. Then establish the configuration space for the arm B. The map of B with A composed the obstacle space; Searched out an optimal path for the arm B by using A*search algorithm in its free space. Finally the realization of the program is given and the MATLAB simulation of the dual-arm movement was completed.4. Completed the design of the dual-arm coordinated control system for the Chinese message robot. Integrated the kinematics analysis and the path planning studies made above, with modeling and analyzing the various massage forms. the dual-arm coordinated control system of the Chinese message robot was designed. Finally, some interface of the host computer in the massage process was displayed.5. Summarized the main work did in this study on the Chinese message robot dual-arm coordinated control system.For the improvement needed done later was listed in the paper. Prospected for the future development of the rehabilitation physiotherapy service robots represented by the Chinese massage robot.