Study On The Movement Planning Of The Manipulator For The Elderly And The Disabled

In order to make the manipulator for the elderly and the disabled to avoid obstacles and arrive at the designated location smoothly in the working environment with obstacles,it is necessary to find out the appropriate path planning algorithm and trajectory planning algorithm to meet the above requirements.Therefore,the research on the motion planning of the manipulator for the elderly and the disabled has important theoretical and practical significance.The establishment of MOD-DH manipulator model and the cylinder bounding box for the elderly and the disabled are introduced.On the basis of the analysis of kinematics and collision detection of the manipulator for the elderly and the disabled,the RRT algorithm is selected to make planning of obstacle avoidance path for the manipulator for the elderly and the disabled in joint space.In view of the problems that the RRT algorithm has the direction randomness when searching the path and that the optimal value cannot be obtained,the random constraint function and the evaluation function of path fitness are introduced in the algorithm to make it have the directional bias and the ability of distance asymptotic optimization in the path planning.When the simulation of obstacle avoidance path planning is conducted in MATLAB,a series of joint path points are obtained,and the simulation results verify the validity of using RRT algorithm in the joint space path planning of the manipulator for the elderly and the disable.Finally,according to a series of path points for the obstacle avoidance path of the manipulator for the elderly and the disable,several common joint space trajectory planning algorithms are compared and contrasted.The cubic B-spline interpolation function,which has the path point approximation ability,is chosen as the algorithm for path planning of the manipulator for the elderly and the disable.On this basis,the genetic algorithm is used to optimize the running time of each path point,and the shortest time interval of each joint path point is obtained under the constraint conditions.After the simulation in MATLAB,the results can verify the validity of using this algorithm in the path planning of the manipulator for the elderly and the disable.