Research On Upper Limb Rehabilitation Robot Trajectory Planning

Stroke is a kind of disease which causes dyskinesia among patients.This subject is based on the research on the 5-DOF upper limb rehabilitation robot,it is in keeping with the rule of upper limb movements.It can promote patients rehabilitation training and to stimulate the nervous system which helps patients restore upper limb movement disorder.In order to complete one task,the robot problem is actually tracking some desired trajectories for robotics system.Trajectory is the basis of robotics system,it determine the way which robots work and the efficiency.This system must plan its trajectory if it performs certain operation jobs.Above all,it's essential to research robot trajectories.The main contents are as follows:(1)Establish the upper limb rehabilitation robot model;The mechanical structure and motion characteristics of the upper limb rehabilitation robot are analyzed;then,this thesis established the kinematics model of rehabilitation robot by using D-H method.Afterwards,the kinetics model of rehabilitation robot is established to analyze the dynamic character by using Newton-Euler equation.Meanwhile,in order to promote the accuracy of trajectory better,we consider the influence of Coulomb friction and viscous friction of rigid body in the system;(2)Research on the singular configuration of the upper limb rehabilitation robot;The upper limb rehabilitation robot belongs to a kind of rigid structure.With respect to the actual control of the rigid structure in space,it may cause some emergency situations happen,such as a rapid growth,a deviation from the expected trajectory and even lead to security problems,which due to the singularity space when the robot is moving.In this thesis,joint property is introduced to predict singularity and select the most appropriate solution of inverse kinematics in the first stage.Then,exotic treatment is avoided by an improved DLS method.(3)The upper limb rehabilitation robot trajectory planning method;In order to improve the similarity between the planning trajectory and the patient upper limb movement,as well as ensure that the resulting tracks can be realized on the existing robot hardware platforms,we need to interpolate the teaching points.As human upper limb activities are mostly complex multi-joint movement,the method of cubic uniform B-spline curve interpolation has been chosen to interpolate teaching points.(4)The upper limb rehabilitation robot trajectory planning;5-DOF upper limb rehabilitation robot model is simulated by Simulink toolbox of MATLAB,after which a case study was carried out to illustrate the effectiveness of the proposed method to avoid singular phenomenon when the robot runs through singular configuration.Finally,we track and optimized the robot's "8-shaped" recovery teaching trajectory.The result which was simulated by MATLAB shows that the derived trajectory is consistent with teaching acts,and consider the trajectory of friction relative to the track after excluding more friction on the track precision approach,achieve the purpose of enhancing the effect of rehabilitation.