Motion planning of a 6-Dofs robot arm for bandaging nursing task

Abstract

In this paper, the motion planning of 6-Dofs robot arm for bandaging nursing task is proposed. With the increase in the degree of social aging, and inconvenient old man is easily injured in daily life, the robot which can handle the simple task of medical care can give them a great help. In this task, DH method is used to establish the robot model, and using the RPY coordinate transformation to plan the spiral trajectory. And then detect the collision between the joint or link of the robot and the injured place. Later with the result of the detection, changing the end effector's posture to avoid collision in order to avoid the damage to wound. By using the method a simulation experiment is made in MATLAB. And the collision-free trajectory motion is realized in the bandaging simulation experiment.