Collaborative space solution and simulation of 7DOF dual-arm rehabilitation robot

Clinical research has proved that bilateral rehabilitation training based on robot-assisted system can effectively improve the rehabilitation effect of patients. The collaborative space of dual-arm robot must be analyzed first when developing rehabilitation training tasks. Aiming at the problem of the collaborative space of the 7 degrees of freedom (DOF) rehabilitation robot, a method combining the Monte Carlo method and the traversal search comparison method is proposed in this paper. Firstly, the kinematics model is established by using the standard Denavit-Hartenberg (DH) method according to the configuration of the manipulator, and then the positive kinematics equation of the manipulator is obtained. Secondly, the Monte Carlo method is used to obtain the workspace of each arm, and the traversal search comparison method is used to obtain the collaborative space of the dual-arm rehabilitation robot. Finally, simulations are performed in the MATLAB toolbox to verify the correctness of the method.