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文章在分析了穿刺机器人系统功能需求的基础上,搭建了主从遥操作系统的半实物仿真平台。基于等效微分变换的思想,提出雅克比矩阵(Jacobian Matrix)方法和比例微分(Proportional-Derivative,PD)控制律的联合控制方法。通过设计数字滤波器来消除外科医生的手部低频抖动对穿刺手术机器人精度的影响。实验结果表明从机器人末端执行器在笛卡尔空间坐标下能够精确快速安全地跟随主机器人末端执行器的位置变化,并且主机器人端的手部抖动能够被消除。
Based on the analysis of functional requirements of puncture robot system, the article builds a hardware-in-the-loop simulation platform for master-slave teleoperation system. Based on the idea of equivalent differential transformation, a joint control method of Jacobian Matrix and Proportional-Derivative (PD) control law is proposed. By designing a digital filter to eliminate surgeons hand low-frequency jitter impact on the accuracy of puncture surgery robots. The experimental results show that the robot end effector can follow the position change of the primary robot end effector exactly and quickly in Cartesian coordinates, and the hand jitter of the primary robot can be eliminated.