A Study of Trajectory Planning of Medical Robots Based on Particle Swarm Optimization (PSO) Algorithm

摘要

With the continuous popularization of smart healthcare in recent years, medical robots has been a technological representative of smart healthcare, which have been put into wide application with their related technologies. Many researchers have studied and improved them. In this study, the model for a six-axis robotic arm utilized in medical robots was initially constructed using the DH coordinate model, along with its forward and inverse kinematic solutions. Subsequently, the trajectory planning for several predefined surgical actions performed by the medical robots was analyzed. This analysis employed fifth-degree polynomial microelement interpolation and the particle swarm optimization (PSO) algorithm to optimize the trajectory. Finally, simulations were carried out using the MATLAB/Simulink platform to realize the established trajectory movements under the three set medical conditions. Through theoretical modeling and simulation, the feasibility and validity of the theoretical model were verified and provided an effective basis for the design and development of subsequent medical robots.