摘要
针对应用于腹腔镜微创手术机器人的主操作手,本文提出了重力补偿算法.主手采用串并混合式的构型.平动自由度和转动自由度分开配置,实现了位置和姿态解耦,每个关节都配有电动机.利用拉格朗日动力学方程法得到了电动机为平衡主手重力所需的输出力矩.为避免信号处理过程中的延时问题,采用速度观测器估计速度信号,并且引入一阶低通滤波器直接获得加速度信号.最后在开启和关闭重力补偿算法的条件下,利用力传感器测量主操作手随人手在自由空间运动输出力的情况,通过与缺少重力补偿条件下的实验数据对比,得出在重力补偿条件下人手的输出力减少90%以上.
A gravity compensation algorithm for master manipulator used in laparoscopic minimally invasive surgery robot is proposed. A hybrid serial-parallel configuration is adopted in the master manipulator, position and orientation are controlled separately, and each joint of the manipulator is equipped with motor. The Lagrange dynamic equation is used to obtain motor output torque for balancing the master manipulator gravity. To avoid time delay in signal processing, a speed observer is chosen to estimate velocity information, and the acceleration signals are obtained directly by introducing first order low- pass filter. Finally, under the conditions of opening and closing the gravity compensation algorithm, the master manipulator output force is measured by force sensor when master manipulator moves with human hand in free space. Comparing with the experimental data obtained without gravity compensation, the output force of the hand is reduced more than 90% with gravity compensation.
出处
《机器人》
EI
CSCD
北大核心
2014年第1期111-116,128,共7页
Robot
基金
国家863计划资助项目(2009AA044001)
关键词
主操作手
重力平衡
重力补偿
拉格朗日方程
master manipulator
gravity balance
gravity compensation
Lagrange equation
