Path Planning And Arm Trajectory Planning For Medical Transfer Robot

Nowadays,robot technology has been widely used in many fields of human production and life,and is developed as a research hotspot in countries around the world.Otherwhile,as the proportion of aging population gradually increases in China,it is difficult for medical staff to meet the needs of medical care.Therefore,it is of great social significance to use robot technology solving medical and nursing problems in real life.Firstly,a medical transfer robot is proposed for patients without autonomous action ability,which can achieve the conversion of the patient's sitting and lying postures and achieve the transfer of the patient between destinations such as beds,wheelchairs,operating tables,etc.The whole medical transfer robot and its arm,torso,chassis structure are designed.The operation mechanism of the medical transfer robot is formulated.Secondly,the path of the medical transport robot is planned based on ant colony algorithm to ensure the robot reaching the target position through the shortest path without collision during the entire transfer operation.The basic principle of ant colony algorithm is explained.The mathematical model of ant colony algorithm is established by quoting the traveling salesman problem.The working environment model of the medical transport robot is established by using grid method.The algorithm flow is set.The algorithm parameters are debugged and the simulation experiments are performed in MATLAB.Thirdly,the kinematics and workspace of the medical transport robot arm are analyzed and solved,so as to provide theoretical basis for arm trajectory planning.The two-arm link coordinate system of the medical transfer robot is established based on D-H method.The forward kinematics of two arms is analyzed,and the forward kinematics is simulated by using Robotics Toolbox in MATLAB.The inverse kinematics equation of two arms is obtained by using the inverse transform method.The workspace of two arms is calculated based on the Monte Carlo method.Finally,the arm trajectory of the medical transfer robot is planned in order to perform the desired actions safely and smoothly and adjust the patient's posture for realizing the placement of patients in different locations.The posture of the medical transport robot arm is described by quoting Euler angle.The motion of each joint on the robot arm is planned by using quintic polynomial interpolation method.The constraint condition for cooperation of two arms is proposed.A method of robot arm trajectory planning is proposed and applied to the medical transport robot.The simulation experiment is performed in MATLAB.