Trajectory planning and simulation of upper limb rehabilitation robot based on NSGA2

Abstract

Abstract In order to increase the stability and comfort of hemiplegic rehabilitation training, this paper integrates B-spline curves with a non-dominated sorting genetic algorithm (NSGA2) for trajectory planning of a 5-DOF upper limb exoskeleton rehabilitation robot, the structural characteristics of the robot are analyzed. Subsequently, the forward kinematics equation is derived by the D-H method, and its correctness is verified by Adams simulation. Subsequently, the robot workspace is calculated, and the outcomes show that it satisfies the patient’s demand for activity. Finally, the trajectory curve is constructed using the 5th-order B-splines. Under kinematic constraints, the NAGA2 is used to discover the ideal time interval sequence for time, impact and energy, and then complete the trajectory planning. The simulation findings demonstrate the suggested trajectory planning method produces continuous, smooth, and high-performance motion trajectories, providing good rehabilitation training for patients.