Kinematics Analysis and Trajectory Planning of Upper Limb Rehabilitation Robot

Abstract

With the rapid development of robot technology, the application of medical rehabilitation robot is also increasing. The upper limb rehabilitation robot is contacted with patients directly, so the control of it require high robustness. In this paper, a three degree of freedom(DOF) upper limb rehabilitation robot is proposed. The relationship between the coordinates of each link of the rehabilitation robot is established, and the D-H parameters of the robot are obtained. Matlab Robotics toolbox is used to establish robot's model and analysis kinematics. Trajectory in the robot's joint coordinate is planned. Finally, a robot control model for upper limb rehabilitation is established. Using the algorithm to control the upper limb rehabilitation robot, the experiment results indicate that the three DOF upper limb rehabilitation robot control algorithm has a certain stability.