Planning of motion trajectory and analysis of position and pose of robot based on rehabilitation training in early stage of stroke

Rehabilitation robot is a certain robot used especially to rehabilitation training, whose main function is to help the patient with various recovery trainings with motor function. This thesis, according to requirements of rehabilitation training, builds analysis of motion pose and motion trajectory planning tactics of robot motion space based on rehabilitation training in early stage of stroke, makes position and pose analysis of rehabilitation-training robot, calculates out posture of the robot terminal controller, and finally puts forward rehabilitation training trajectory used in robot reappearance in light of experiment data.