Trajectory planning of the nursing robot based on the center of gravity for aluminum alloy structure

摘要

Abstract In this paper, the robot arm is manufactured to increase the structural strength and improve safety. The stability of the nursing robot in the process of carrying out the typical nursing task of holding patients was studied, and the influence of the center of gravity on the movement stability of the nursing robot was analyzed. The mathematical model of the stability of the robot is built by using the inverse kinematics solution of the robot. By studying the trajectory planning of a nursing robot under the condition of ZMP constraint, the robot can move safely and optimally along the prescribed trajectory between two working points. The simulation results show that the algorithm can significantly improve the work safety of the robot. In the experiment, four pressure sensors are used to measure the pressure of four wheels on the ground, the data are obtained and substituted into the expression of center of pressure (COP) method. The results show that the stability is in a reasonable moving area without any hidden danger, and its COP value is less than the stable qualitative boundary, which verifies the rationality and effectiveness of the optimal center of gravity stability planning algorithm.