基于5次准均匀B样条的上肢康复机器人轨迹规划及优化研究

【摘要】 为了提高上肢运动障碍患者使用上肢康复机器人进行康复训练时的安全性和舒适性，基于5次准均匀B样条对一款五自由度上肢康复机器人进行了轨迹规划，再使用粒子群算法对规划的轨迹进行优化，获得冲击最优的轨迹曲线。最后在MATLAB平台进行了仿真，实验证明规划的轨迹曲线平滑、连续，且优化后的轨迹相较于优化前降低了78.35%的冲击。合理的轨迹设计为后续上肢康复机器人的控制研究打下了坚实的基础。更多还原

【Abstract】 In order to improve the safety and comfort of patients with upper limb movement disorders when using upper limb rehabilitation robots for rehabilitation training, this paper plans the trajectory of a five-degree-of-freedom upper limb rehabilitation robot based on the 5th quasi-uniform B-spline, and then uses particle swarm algorithm to optimize the planned trajectory to obtain the trajectory curve with the optimal impact. Finally, the simulation is carried out on the MATLAB platform, which proves that planned trajectory curve is smooth and continuous, and the optimized trajectory reduces the im-pact by 78.35% compared with the pre-optimization period. The reasonable trajectory design lays a solid foundation for the subsequent control research of upper limb rehabilitation robots.更多还原