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微创手术机器人一般采用主从式结构。主从操作手的力反馈技术是手术机器人研究重要的方向。基于运动学D-H模型采用位姿分离法实现了机械手逆运动快速求解。运用虚功原理的方法实现了对机械手力反馈控制。并且进行了动物软组织实验,为操作者提供临场力感觉,实现人对手术机器人的有效干预和控制。
Minimally invasive surgical robots generally use master-slave structure. Master-slave operator of the force feedback technology is an important direction for the study of surgical robots. Based on the kinematics D-H model, the pose-separation method is used to solve the inverse motion of manipulator. The method of virtual work principle is used to control the feedback of manipulator. And animal soft tissue experiments were carried out to provide the operator with a feeling of presence and to effectively intervene and control the human robot.