Application of Hybrid D-H Parameter Method and Improved CSA Rehabilitation Robot in Physical Exercise for the Elderly
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.
D-H parameter methodcrow search algorithmrehabilitation robotsphysical exercise for elderly people
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