Research on Trajectory Optimization of Upper Limb Rehabilitation Robot

Abstract

For the current wide application of robots in the field of rehabilitation, in order to improve the auxiliary rehabilitation effect of upper limb movement disorder patients in the rehabilitation period and enhance the security of patients during use, this paper proposes a method for trajectory planning and optimization of upper limb rehabilitation robot, which can achieve good and safe auxiliary rehabilitation effect by modifying the tangent offset parameters. In order to solve the problem of redundant inflection points and poor smoothness of traditional A Star Algorithm, a hierarchical progressive algorithm optimization strategy is proposed, such as collision detection algorithm and dynamic tangent smoothing algorithm with variable tangent points. By using this strategy, the technical problems such as the judgment and deletion of redundant inflection points and the excessive corner of poor convergence of planned path are solved. The accuracy of optimal path judgment is significantly improved, and the safety performance and auxiliary rehabilitation effect of upper limb rehabilitation machine are significantly improved. In this paper, the kinematics modeling of upper limb rehabilitation robot is carried out by MATLAB, and the trajectory simulation of the robot is carried out, and a trajectory optimization scheme based on A Star Algorithm is proposed. The generated path conforms to the trajectory of the rehabilitation operation, and can effectively assist the rehabilitation movement, which provides a basis for kinematics.