混合D-H参数法与改进CSA的康复机器人在老年人体育锻炼中的应用

Application of Hybrid D-H Parameter Method and Improved CSA Rehabilitation Robot in Physical Exercise for the Elderly

针对当前康复机器人轨迹规划优化算法优化性能不足,导致康复机器人对老年人体育锻炼的辅助效果不显著的缺陷,提出一种结合D-H参数法和改进乌鸦搜索算法来进行康复机器人轨迹规划的优化方法.首先,基于D-H参数法对康复机器人进行运动学和动力学建模,在此基础上构建目标函数;然后,引入Levy飞行机制和Tent混沌映射策略来优化乌鸦搜索算法;最后,再利用改进乌鸦搜索算法来实现康复机器人轨迹规划优化.实验结果显示,改进乌鸦搜索算法完成收敛需要迭代39次,在函数f1上GD值为0.0020,比WOA算法低0.0005;在函数f2上GD值为0.0020,优于其他算法.结果表明,结合D-H参数法和改进乌鸦搜索算法能够有效优化康复机器人轨迹规划,从而提高老年人体育锻炼的辅助效果,对老年人的生活质量提升有积极作用.

In response to the shortcomings of the current rehabilitation robot trajectory planning optimization algorithm,which is not ideal in terms of optimization performance and results in unsatisfactory auxiliary effects of rehabilitation robots on physical exercise for the elderly,a study proposes a combination of D-H parameter method and improved crow search algorithm for trajectory planning optimization of rehabilitation robot.Firstly,the kinematics and dynamics of the rehabilitation robot are modeled on the basis of the D-H parameter method,and the objective function is constructed on this basis;Then,the Levy flight mechanism and Tent chaotic mapping strategy are introduced to optimize the crow search algorithm,and the improved crow search algorithm is used to achieve trajectory planning optimization for the rehabilitation robot.The experimental results show that the improved crow search algorithm requires 39 iterations to complete convergence.The GD value on function f1 is 0.0020,which is 0.0005 lower than the WOA algorithm.The GD value on function f2 is 0.0020,which is superior to other algorithms.The above results indicate that the proposed method can effectively optimize the trajectory planning for rehabilitation robot,thereby improving the auxiliary effect of physical exercise for the elderly and having a positive effect on improving their quality of life.