A Trajectory Planning Algorithm for Medical Manipulators Based on Adaptive Particle Swarm Optimization and Fuzzy Neural Network

Abstract

With the development of smart healthcare, surgical and rehabilitation robots have permeated into daily medical operations. This raises concerns over the trajectory planning of medical manipulators. Based on particle swarm optimization (PSO) algorithm and fuzzy neural network (FNN), this paper puts forward a trajectory planning algorithm for medical manipulators, which ensures that the target medical manipulator can suppress the residual jitter at the end, while meeting the requirements of high precision, flexible operation, and disturbance resistance. Specifically, a kinetic model was constructed for a medical manipulator of multi-degrees-of-freedoms (DOFs) through position and posture transforms, and used to construct an FNN for trajectory planning. To suppress the jitter at the end, an adaptive PSO algorithm was designed, and combined with the FNN into a trajectory planning algorithm called PSO neural network (PSONN) algorithm. Finally, the proposed algorithm was proved effective through experiments. The research results provide the reference for applying PSO algorithm and FNN in other fields.

Application of multi-sensor network and artificial intelligence in health monitoring of medical geriatric care

“…The use of data from multiple sensors for moving target tracking is a long-term problem in multi-sensor data fusion. In military applications such as target tracking or tactical intelligence, it is mainly to estimate and predict the state of speci c types of entities in the external environment [9]. The literature says that the traditional method is to gather the observation data or local estimation information of each sensor node to the fusion center, and the fusion center will perform the data fusion processing to obtain the global state estimation [10].…”

Automatic Manipulator Tracking Control Based on Moving Target Trajectory Prediction

“…With the rapid development of industrial technology, manipulators have been successfully applied to original manual operations, becoming the most widely used manmade tool for industrial production [1][2][3][4][5][6]. e application of manipulators makes production more efficient and flexible.…”

Manipulator Trajectory Tracking Based on Kinematics Model Predictive Control

“…The rapid automation of modern industry has motivated the shift from traditional manufacturing to intelligent manufacturing, in the pursuit of more efficient production and better products. Featured by efficiency, flexibility, and precision, manipulators are now widely used in largescale production of various industries [1][2][3][4][5]. The mass application of manipulators is backed up by many incentive policies, such as Robotics Industry Development Program (2016 -2020) [6][7][8].…”