Trajectory Planning of Medical Robot Arm Based on D- H Coordinate System

With the rapid development of smart healthcare, the application of robots in the medical field has increased significantly. This paper first established a D- H coordinate model for a six-axis robotic arm used in medical robotics, deriving and solving the coordinate systems of the robotic arm. Secondly, forward and inverse kinematic models and trajectory interpolation algorithms were established for the six-axis robotic arm, focusing on trajectory planning research. Finally, trajectory planning simulation for the medical robotic arm was implemented in MATLAB, with simulated operations along Archimedean spiral, parabolic, and Z-shaped paths. The establishment of algorithms and simulation calculations for the medical robotic arm verify the feasibility and effectiveness of trajectory planning under this algorithm, providing valid evidence for subsequent clinical applications of medical robots.