Rapid trajectory planning with Radau pseudospectrum for upper limb rehabilitation training robotic arm

With the aging population and the rise of sports activities, there is an increasing number of patients with upper limb movement disorders. To alleviate the burden on healthcare professionals, the medical field has turned its attention to real-time programmable repetitive rehabilitation training for patients using rehabilitation robotic arms. Addressing the trajectory planning problem of upper limb rehabilitation training robotic arms, this study establishes a six-degree-offreedom model of the upper limb rehabilitation training robotic arm in the D-H coordinate system. Employing optimal control principles, the study designs manipulability performance metrics for the robotic arm. Finally, employing the Radau pseudospectral method, the optimal control problem is transformed into a solvable nonlinear programming problem, offering a solution for precise and rapid trajectory planning of upper limb rehabilitation training robotic arm movements.