Study of kinematics and trajectory planning for intervention robot

CHEN Hua，LIU Long，CAO Tong

（School of Mechanical Engineering，University of Science and Technology Beijing，Beijing 100083，China）

Abstract：Aiming at solving the problems of robot kinematics and trajectory planning，the kinematics equations of vascular intervention robot were built to analyze robot kinematics problems which were based on D-H coordinate system theory. Secondly，in the joint space，quintic polynomial interpolation method was involved in the joint trajectory interpolation calculation，which combined the parameters of the robot. PTP trajectory planning of vascular intervention robot was realized in joint space. Finally，the model of the robot was established to simulate the robot kinematics and trajectory planning via Matlab toolbox.The results indicate that robot parameter is reasonable，and quintic polynomial trajectory planning in joint space ensure the continuous and smooth motion of robot. At present，the technology have been used in clinical trials of vascular interventional procedures.