In order to make the manipulators useful, some force feedback is required to enable the operator to sense the robot’s feelings. Without force feedback, many tasks will not be able to be carried out. For these reasons...In order to make the manipulators useful, some force feedback is required to enable the operator to sense the robot’s feelings. Without force feedback, many tasks will not be able to be carried out. For these reasons, a master slave system with different kinematics has been developed. The system permits us to vary the ratio of the position/attitude, to design a master manipulator without considering the kinematics of the slave manipulator, and so on. To overcome the difficulties, a master slave manipulator system with different kinematics is proposed. The master manipulator is force controlled via a force torque sensor in the handle. As to master slave manipulator system with two way force feedback is concerned, the force goes to the actuator from the operator, and come back to the operator from the actuator. The working situation is viewed by the stereo TV supervisory system. The force and vision telepresence are thus achieved. In order to ensure the maneuverability, direct drive DC motors and PWM servo units are adopted to improve the response speed. It can provide force response in a wide range. A lot of experiments were performed with the master slave manipulator system force telepresence to study the force response under restricted environment. By two force sensors, the force position bilateral force response system effectively decreases the affection of friction and inertia force, and increases the authenticity of bilateral force response. When the slave manipulator arm is encountered with soft object(sponge), in the experiments, the operator can clearly have the fine feeling as if he himself is contacted with the object.展开更多
Master robots are integral components of teleoperated robot-assisted minimally invasive surgery systems.Among them,parallel mechanism-based 6-degree-of-freedom master robots are distinguished by low inertia and high-f...Master robots are integral components of teleoperated robot-assisted minimally invasive surgery systems.Among them,parallel mechanism-based 6-degree-of-freedom master robots are distinguished by low inertia and high-force feedback.However,complex kinematics and singularities are the main barriers limiting its usage.This study converts the Hexa-type 6-RUS mechanism into a master robot to construct master-slave teleoperation system.The clinical background is briefly introduced and a representative surgical robot is employed to analyze the master-slave mapping relationship.The inverse/forward kinematics,the Jacobian matrix,and the translation and orientation workspace are derived as the bases of master robot’s application.The architecture parameters are optimized by the global transmission index to achieve better motion/force transmissibility.Based on the optimal result,the prototype and the master-slave control loop are constructed.Finally,the corresponding master-slave teleoperation experiment and model experiment demonstrate that the proposed master robot satisfies the basic need for medical application.展开更多
To satisfy the requirements of independent navigation in low cost multiple robots,a navigation frame of masterslave robots with only one master robot is introduced briefly.A range-only navigation algorithm for slave r...To satisfy the requirements of independent navigation in low cost multiple robots,a navigation frame of masterslave robots with only one master robot is introduced briefly.A range-only navigation algorithm for slave robots of low cost is presented for the navigation in unknown current.This algorithm only needs a master robot.The master is just a single mobile node which has high navigation performance.Observability of this master-salve system is theoretically analyzed.The conditions of slave robot trajectory under which observability is guaranteed are evaluated by a slave robot in real-time.The slave takes appropriate action to control its heading to achieve observability if observability is lost on the current trajectory.The navigation algorithm is implemented by a standard extended Kalman filter,and it is able to acquire accurate estimation of robot's position.The simulation results show its effectiveness of the proposed algorithm.展开更多
The difficult problem of automatically welding nipples onto the header is first analyzed in this paper, and then the overall structure and operating principle of the robot working unit are introduced. The robot and th...The difficult problem of automatically welding nipples onto the header is first analyzed in this paper, and then the overall structure and operating principle of the robot working unit are introduced. The robot and the measuring device are located by employing the traveling lorry, and this unit enables the robot to adjust the tracks according to the errors received from the measuring device, and then the nipples are welded properly. This paper emphases on the development of the master-slave control system, in which the prograrmmable Logic Controller (PLC) is used as the master computer.展开更多
提出一种康复机器人以健肢的运动位姿为参照带动患肢进行康复训练的方法。该方法使得机器人的运动轨迹更符合患者自身的运动习惯,实现康复训练的个性化,锻炼患者双侧肢体的协调性,提高康复训练效果。设计了一种4自由度气动上肢外骨骼康...提出一种康复机器人以健肢的运动位姿为参照带动患肢进行康复训练的方法。该方法使得机器人的运动轨迹更符合患者自身的运动习惯,实现康复训练的个性化,锻炼患者双侧肢体的协调性,提高康复训练效果。设计了一种4自由度气动上肢外骨骼康复机器人,由于机器人和上肢的自由度不同,提出了主从异构的运动映射算法。采用指数积法建立机器人运动学模型,定义机器人的等同生理关节,进行健肢和机器人之间位姿映射。对于关节活动度训练,设计了基于四元数的姿态解算和镜像求解的位置映射算法,利用健肢的独立运动关节姿态实现人-机器人之间等同关节的映射,提高映射效率。在多关节参与的日常生活活动(Activity of Daily Living,ADL)训练中,提出了肘腕分离的运动映射方法,分别以健肢大臂和小臂刚体的向量运动解算机器人肩部两个关节与肘部1个关节的旋转运动,保证了运动映射过程中的位姿精度。最后,设计康复运动跟随实验和位姿相似度验证实验,证明主从异构运动映射方法的可行性。展开更多
文摘In order to make the manipulators useful, some force feedback is required to enable the operator to sense the robot’s feelings. Without force feedback, many tasks will not be able to be carried out. For these reasons, a master slave system with different kinematics has been developed. The system permits us to vary the ratio of the position/attitude, to design a master manipulator without considering the kinematics of the slave manipulator, and so on. To overcome the difficulties, a master slave manipulator system with different kinematics is proposed. The master manipulator is force controlled via a force torque sensor in the handle. As to master slave manipulator system with two way force feedback is concerned, the force goes to the actuator from the operator, and come back to the operator from the actuator. The working situation is viewed by the stereo TV supervisory system. The force and vision telepresence are thus achieved. In order to ensure the maneuverability, direct drive DC motors and PWM servo units are adopted to improve the response speed. It can provide force response in a wide range. A lot of experiments were performed with the master slave manipulator system force telepresence to study the force response under restricted environment. By two force sensors, the force position bilateral force response system effectively decreases the affection of friction and inertia force, and increases the authenticity of bilateral force response. When the slave manipulator arm is encountered with soft object(sponge), in the experiments, the operator can clearly have the fine feeling as if he himself is contacted with the object.
基金the National Natural Science Foundation of China(No.62211540723)the Interdisciplinary Program of Shanghai Jiao Tong University(Nos.YG2023ZD05 and YG2023ZD14)+1 种基金the Quanzhou High-Level Talent Innovation and Entrepreneurship Project(No.2021C003R)the Research Project of Institute of Medical Robotics of Shanghai Jiao Tong University。
文摘Master robots are integral components of teleoperated robot-assisted minimally invasive surgery systems.Among them,parallel mechanism-based 6-degree-of-freedom master robots are distinguished by low inertia and high-force feedback.However,complex kinematics and singularities are the main barriers limiting its usage.This study converts the Hexa-type 6-RUS mechanism into a master robot to construct master-slave teleoperation system.The clinical background is briefly introduced and a representative surgical robot is employed to analyze the master-slave mapping relationship.The inverse/forward kinematics,the Jacobian matrix,and the translation and orientation workspace are derived as the bases of master robot’s application.The architecture parameters are optimized by the global transmission index to achieve better motion/force transmissibility.Based on the optimal result,the prototype and the master-slave control loop are constructed.Finally,the corresponding master-slave teleoperation experiment and model experiment demonstrate that the proposed master robot satisfies the basic need for medical application.
基金Natural Science Foundation of Liaoning Province(20102236)
文摘To satisfy the requirements of independent navigation in low cost multiple robots,a navigation frame of masterslave robots with only one master robot is introduced briefly.A range-only navigation algorithm for slave robots of low cost is presented for the navigation in unknown current.This algorithm only needs a master robot.The master is just a single mobile node which has high navigation performance.Observability of this master-salve system is theoretically analyzed.The conditions of slave robot trajectory under which observability is guaranteed are evaluated by a slave robot in real-time.The slave takes appropriate action to control its heading to achieve observability if observability is lost on the current trajectory.The navigation algorithm is implemented by a standard extended Kalman filter,and it is able to acquire accurate estimation of robot's position.The simulation results show its effectiveness of the proposed algorithm.
文摘The difficult problem of automatically welding nipples onto the header is first analyzed in this paper, and then the overall structure and operating principle of the robot working unit are introduced. The robot and the measuring device are located by employing the traveling lorry, and this unit enables the robot to adjust the tracks according to the errors received from the measuring device, and then the nipples are welded properly. This paper emphases on the development of the master-slave control system, in which the prograrmmable Logic Controller (PLC) is used as the master computer.
文摘提出一种康复机器人以健肢的运动位姿为参照带动患肢进行康复训练的方法。该方法使得机器人的运动轨迹更符合患者自身的运动习惯,实现康复训练的个性化,锻炼患者双侧肢体的协调性,提高康复训练效果。设计了一种4自由度气动上肢外骨骼康复机器人,由于机器人和上肢的自由度不同,提出了主从异构的运动映射算法。采用指数积法建立机器人运动学模型,定义机器人的等同生理关节,进行健肢和机器人之间位姿映射。对于关节活动度训练,设计了基于四元数的姿态解算和镜像求解的位置映射算法,利用健肢的独立运动关节姿态实现人-机器人之间等同关节的映射,提高映射效率。在多关节参与的日常生活活动(Activity of Daily Living,ADL)训练中,提出了肘腕分离的运动映射方法,分别以健肢大臂和小臂刚体的向量运动解算机器人肩部两个关节与肘部1个关节的旋转运动,保证了运动映射过程中的位姿精度。最后,设计康复运动跟随实验和位姿相似度验证实验,证明主从异构运动映射方法的可行性。
