Research On Control Technology Of Massage Robot Based On Cooperative Robot

Since the beginning of the new century,the problem of aging in China has become increasingly prominent.In the elderly stage,problems such as waist and leg pain,insomnia and dreaminess are common symptoms.However,due to the accelerated pace of work and the compressed leisure time among contemporary young people,the incidence of occupational diseases is increasing day by day,such as cervical spondylosis,lumbar muscle strain and other diseases,and they have no time to go to the hospital for treatment,resulting in chronic diseases.An effective way to treat the above diseases is massage.Massage can not only relieve the pain caused by the disease,but also prevent it.However,the number of massage therapists in China is seriously insufficient,and massage equipment has been criticized for its unstable massage force.Therefore,it is of great significance to study massage robots.This paper is based on the UR5 collaborative robot,the research on force control of the massage robot is carried out.The main content of the paper is as follows:First,the forward and inverse kinematics of the robot is deduced,the relationship between the robot’s end pose and each joint angle is established,and the robot’s compliant control method is described.The Butterworth low-pass filter is used to process the feedback force information of the six-dimensional force/torque sensor,and the positionbased impedance control method is used to realize the compliant control of the robot end in position space and attitude space.The influencing factors of strength control based on this method are analyzed.Build the simulation model in Simulink and analyze the results.Secondly,aiming at the problem that the impedance parameter cannot be adaptively adjusted,resulting in poor dynamic force control performance of the system,the fuzzy control method is used to adjust the damping parameter b adaptively,the design process of the fuzzy controller is studied,and the fuzzy control between input and output is formulated.Rules,and finally determine a fuzzy controller with double input and single output,which takes force error and force error conversion rate as input,and damping parameter deviation as output,so as to improve the adaptive performance of the system.In order to solve the problem of low control accuracy caused by few fuzzy rules near the zero point,adding the idea of variable domain,and adjusting the domain of discourse timely through the expansion factor to improve the control accuracy and stability of the system.A simulation model is built in Simulink,and it is verified that the adaptive impedance algorithm based on variable universe fuzzy control has good force control performance.Then,in order to test the strength control of the massage robot in the actual experiment,an experimental platform for the force control of the massage robot was built,and the system control software and human-computer interaction interface were developed based on the QT framework.The safety analysis of the experimental platform is carried out to ensure the safety of the experimental platform.Finally,based on the experimental platform built,relevant massage experiments were carried out on the back of the human body.The experimental results verified the feasibility of the adaptive impedance control algorithm based on variable universe fuzzy control in the actual work of massage robots and the stability of force control.