Research On Robot Arm Motion Planning And Control Method For Bandaging Nursing Task

Robotic assistance for daily living activities,could enable them to be more independent.People will always have some accidents in daily life,such as falls.So,it is essential to timely and professionally bandage the wound.However,there is currently very little research on the use of robot arm in bandaging task.For bandaging task,not only abnormal postural detection and avoidance,but also bandage tension control needs to be considered.In response to the above questions,this thesis proposes a control method for bandaging task.Combining avoidance planning with tension control method enables the robot arm to successfully complete the bandaging task.In this thesis,at first,with consideration of abnormal posture detection and avoidance,a robot arm motion planning method for bandaging task will be proposed.A mathematical approach to establish the detection basis for quantitative judgments,combined with an avoidance strategy based on extending the bandage along the tangential direction,allows the robot arm to complete the motion planning of the bandaging task.Second,with consideration of tension control problem,a tension control method for bandaging tasks is proposed.Tension control is achieved by determining the motion rules of the end actuator and predicting the direction of the swaying arm.Finally,the number of the injured arm that can be bandaged is proposed as an evaluation indicator for the avoidance planning method and the change magnitude of tension is proposed as an evaluation indicator for the tension control method.Some experiments were performed on the robot arm for bandaging tasks to verify the feasibility and practical value.