Study On Control And Trajectory Planning Of Rehabilitation Robot

In recent years,the rehabilitation medical industry has developed rapidly in China,and the use of upper limb rehabilitation robots in the rehabilitation medical industry in China has also begun to emerge.Rehabilitation robotics is extremely inclusive.It combines medicine,robotics,mechanics,computer technology and VR technology.It is a hot topic of domestic and even international research.In this paper,a????upper limb rehabilitation robot is studied.It mimics the five degrees of freedom set in each joint of the human body to aid the patient,mimicking the movement of the human upper limb,allowing the patient with upper limb movement disorder to be rehabilitated.Based on the theory of robot science,this paper models a five-degree freedom upper limb rehabilitation robot.Firstly,we use D-H coordinate method to model the kinematics of the robot.The inverse kinematics equation is obtained from the known parameters.Then we model the dynamics of the robot and get the total kinetic energy and total potential energy.The model of upper limb rehabilitation robot with five degrees of freedom was obtained by Matlab simulation.In the robot control method,the fuzzy sliding mode variable structure control method is adopted.Sliding mode variable structure control is nonlinear,robust and responsive,which is very suitable for robot control system.On the basis of the control of sliding mode,the fuzzy control can restrain the buffeting effect of sliding mode and make the rehabilitation robot more efficient and safe.There are some questions bout robot trajectory planning.This paper introduces the methods of trajectory planning from general trajectory planning to three-order polynomial,five-order polynomial,high-order polynomial and right-angle coordinate space.Matlab simulation is carried out on the basis of its theory.In this paper,the ant colony optimization algorithm is adopted to optimize the trajectory.The optimal trajectory is found by ant colony optimization algorithm.This paper has planed and optimizied motion trajectory in two-dimensional space and three-dimensional space respectively.Finally,the ant colony optimization method is verified before and after the simulated ant colony optimization.It is proved that ant colony optimization algorithmhas obvious optimization effect on path planning.