摘要
建立了新型医用微型机器人的系统动力学模型,利用有向图理论分析了医用微型机器人的姿态可控性,得到微型机器人的姿态可控的结论.同时,对机器人和环境参数的摄动对机器人的姿态的影响进行了研究,实验研究结果证明了上述理论.姿态可控性与微型机器人进入人体时人体的舒适性和安全性紧密相关.通过控制微型机器人的运行姿态,可以使人体得到良好的舒适程度.
The dynamics models of the novel kind of medical micro robot for entering human body are studied. The pose controllability is analyzed with the directed graph method. Results show that the micro robot can be controlled completely when it runs in the human bodies. Affections of little changes of robot or running environment parameters to the pose controllability are studied with experiments. Relations between pose controllability and human comfort when the micro robot running into the human body are also discussed.
出处
《自动化学报》
EI
CSCD
北大核心
2004年第5期707-715,共9页
Acta Automatica Sinica
基金
国家自然科学基金(59805017)
国家"863"项目(863-512-9805-08)资助~~
关键词
医用微型机器人
姿态
可控性
Biomedical engineering
Calculations
Controllability
Dynamics
Mathematical models
Matrix algebra
Robot applications
