Manipulative Control Algorithm of Moxibustion Robot Based on 6-DOF Manipulator

The burden of doctors is heavy and the consumption of medical supplies is large in the process of traditional moxibustion treatment. Currently, the robot that can replace doctors to complete moxibustion treatment has a simple structure, low degree of freedom and intelligence, and only completes simple operation control at fixed points. Hence, there is still a lack of moxibustion robots that can realistically simulate moxibustion techniques with complex angles. In this paper, a trajectory planning algorithm for moxibustion manipulations is designed based on the 6-DOF manipulator. The robot can complete the collection of acupuncture points, which in different directions of the human body, and truly reproduce the complex and changeable moxibustion techniques. It can realize the precise control and intelligent transformation of different techniques in the treatment process. At the same time, the robot combines temperature monitoring and feedback system. It makes therapy of robot more realistic, friendlier and improves the safety of mechanical arm. Finally, the feasibility and accuracy of the robot are verified by system test. The moxibustion auxiliary robot is not only expected to be used for professional physiotherapy in hospitals, but also can be promoted to individual users for realizing the family self-help physiotherapy model, and has broad market and application prospects.