Trajectory Planning and Simulation Study of Redundant Robotic Arm for Upper Limb Rehabilitation Based on Back Propagation Neural Network and Genetic Algorithm

摘要

In this study, a Back Propagation (BP) neural network algorithm based on Genetic Algorithm (GA) optimization is proposed to plan and optimize the trajectory of a redundant robotic arm for the upper limb rehabilitation of patients. The feasibility of the trajectory was verified by numerical simulations. First, the collected dataset was used to train the BP neural network optimized by the GA. Subsequently, the critical points designated by the rehabilitation physician for the upper limb rehabilitation were used as interpolation points for cubic B-spline interpolation to plan the motion trajectory. The GA optimized the planned trajectory with the goal of time minimization, and the feasibility of the optimized trajectory was analyzed with MATLAB simulations. The planned trajectory was smooth and continuous. There was no abrupt change in location or speed. Finally, simulations revealed that the optimized trajectory reduced the motion time and increased the motion speed between two adjacent critical points which improved the rehabilitation effect and can be applied to patients with different needs, which has high application value.