北京生物医学工程

一种具有工具重力补偿功能的机械臂力控牵引方法

A traction-force control method for manipulator with tool’s gravity compensation

作者：李宁孟繁乐曾柏伟丁辉王广志

单位：清华大学医学院生物医学工程系（北京100084）

分类号：R318.04

出版年·卷·期（页码）：2017·36·1（1-8）

摘要：

目的本文根据多自由度机械臂在外科手术、康复训练中与操作人员进行实时力位交互的需求，设计了一种具有工具重力补偿功能的机械臂力控牵引方法。方法首先通过安装在机械臂末端的六自由度力传感器检测作用在末端工具上的牵引力，然后应用上位机中的力-位与力-速控制算法将力信息转化为机械臂末端预期位姿偏移量并更新机械臂末端运动速度，进而控制机械臂沿受力方向运动。本文进一步提出一种末端工具重力补偿算法，能够有效补偿机械臂末端工具重力在力传感器上的偏差值。结果实验模拟无框架立体定向手术的患者注册环节，在无牵引力作用时上位机补偿后的外力值控制在±0.2N以内，最大力控循环采样率30Hz，最大系统延迟52ms。结论通过牵引力控制能够方便地对机械臂实现力控牵引摆位及运动过程中的紧急避障，重力补偿效果明显。

Objective To develop a traction force control method for manipulator with tool’s gravity compensation according to the need of force-position interaction in real time with operators in surgery and rehabilitation training. Methods We firstly use six-degree force transducer mounted on the end of the manipulator to detect traction force，then translate it to the displacement of the manipulator’s nominal position and update the motion velocity by force-displacement and force-velocity transfer algorithm，finally，drive the manipulator towards the direction of the traction force. A gravity compensation algorithm is implemented in this method in order to eliminate the deviations of the tool’s gravity. Results Experiments simulate the registration process of the stereotactic frameless surgery，and the data set suggests that the tool’s gravity compensates within ±0.2 N at the steady state. Maximum force control loop frequency is 30 Hz and maximum system latency is 52 ms. Conclusions The manipulator can be driven and avoid the obstacle by traction force easily and smoothly，and the outcome of the gravity compensation is significant.

参考文献：

［1］Taylor RH,Menciassi A，Fichtinger G，et al. Medical robotics and computer-integrated surgery［M］//Springer Handbook of Robotics.Berlin Heidelberg:Springer,2008: 1199-1222.

［2］Faria C，Erlhagen W，Rito M，et al. Review of robotic technology for stereotactic neurosurgery［J］. Biomedical Engineering，IEEE Reviews in，2015，8（5）: 125-137.

［3］胡进，侯增广，陈翼雄，等. 下肢康复机器人及其交互控制方法［J］. 自动化学报，2014，40(11): 2377-2390.

Hu Jin，Hou Zengguang，Chen Yixiong，et al. Lower limb rehabilitation robots and interactive control methods［J］. Acta Automatica Sinica，2014，40(11): 2377-2390.

［4］李庆玲，孔民秀，杜志江，等. 5-DOF上肢康复机械臂交互式康复训练控制策略［J］. 机械工程学报，2008，44(9): 169-176.

Li Qingling，Kong Minxiu，Du Zhijiang，et al. Interactive rehabilitation exercise control strategy for 5-DOF upper limb rehabilitation arm［J］. Chinese Journalof Mechanical Engineering,2008，44(9): 169-176.

［5］Kushida D，Nakamura M，Goto S，et al. Human direct teaching of industrial articulated robot arms based on force-free control［J］. Artificial Life and Robotics，2001，5(1): 26-32.

［6］Goto S. Forcefree Control for flexible Motion of Industrial Articulated Robot Arms［M］. INTECH Open Access Publisher，2006.

［7］Park C，Kyung JH，Do HM，et al. Development of direct teaching robot system［C］//Ubiquitous Robots and Ambient Intelligence (URAI).Incheon,South Korea:2011 8th International Conference on IEEE，2011: 730-732.

［8］Raibert MH，Craig JJ. Hybrid position/force control of manipulators［J］. Journal of Dynamic Systems，Measurement，and Control，1981，103(2): 126-133.

［9］Hogan N. Impedance control: An approach to manipulation［J］.Journal of Dynamic Sysbems,1985,107(1):17-24.

［10］Volpe R,Khosla P. A theoretical and experimental investigation of explicit force control strategies for manipulators［J］. Automatic Control，IEEE Transactions on，1993，38(11): 1634-1650.

［11］胡建元，黄心汉. Movemaster—EX 机器人零力跟踪控制［J］. 华中理工大学学报，1993，21(6): 135-139.

Hu Jianyuan，Huang Xinhan. Zero-force control for a type Movemaster-EX robot［J］. Journal of Huazhong University of Science and Technology，1993，21(6): 135-139.

［12］徐建明，丁毅，禹鑫燚,等. 基于顺应性跟踪控制的工业机器人直接示教系统［J］. 高技术通讯，2015，25(5): 500-507.

Xu Jianming，Ding Yi，Yu Xinyi，et al. A direct teaching system of industrial robots based on compliant tracking control［J］. Chinese High Technology Letters，2015， 25(5): 500-507.

［13］Pallegedara A，Matsuda Y，Egashira N，et al. Experimental evaluation of teleoperation system with force-free control and visual servo control by human operator perception［J］. Artificial Life and Robotics，2013，17(3-4): 388-394.

［14］游有鹏，张宇，李成刚. 面向直接示教的机器人零力控制［J］. 机械工程学报，2014，50(3): 10-17.

You Youpeng，Zhang Yu，Li Chenggang. Force-free control for the direct teaching of robots［J］. Journal of Mechanical Engineering，2014，50(3): 10-17.

服务与反馈：

【文章下载】【加入收藏】

提示：您还未登录，请登录！点此登录