Path planning algorithm of a novel massage robot

Abstract

This paper presents a novel wheel massage robot which can achieve hammer, rolling, kneading and other massage operations, and a complete coverage algorithm of massage path planning - improved reciprocating path planning algorithm. Based on the massage robot and traditional Chinese massage, the requirements of path planning of wheel massage robot and the features of traditional reciprocating path planning algorithm were analyzed, and control system model of wheel massage robot was established. By using Matlab/Simulink to simulate the traditional reciprocating path planning algorithm and improved reciprocating path planning algorithm, we obtained the movement path of wheel massage robot under three kinds of massage operation. The results show that the improved reciprocating path planning algorithm could ensure that the massage robot traverses the whole back area, and it apparently improves the coverage rate of massage path and massage effect.