摘要
为满足机器人辅助微创手术系统手术中轨迹跟踪和绝对定位的高精度要求,为其研制了一个基于光学定位的视觉伺服系统。该系统采用光学跟踪定位手段,实时测量机器人末端位姿并反馈,在光学测量空间实现全局闭环的位姿校正控制,使影响机器人轨迹跟踪和定位精度的主要误差因素得到有效校正,从而保证了机器人跟踪和定位的高精确度。分析了系统的组成和工作原理,提出一种笛卡儿空间位姿校正和关节空间速度控制综合的轨迹跟踪控制方法,仿真结果验证了该方法的有效性。
A visual servosystem based on optical positioning for robot-assisted micro-invasive surgery systems was developed to improve the tracking and positioning accuracy of the robotic systems in the absolute coordinates. Its visual servocontrol can be described as below. A high-precision devise for optical positioning is introduced and combined with the robotic systems to sense and feedback the pose of the robot end-effecter in real time. A global closed-loop pose control is applied to the robotic systems in optical measuring space. This control scheme can correct the tracking and positioning errors effectively and achieve the high-accuracy of the robot systems. The system composition and working principles are analyzed. And based on this, a method of combining the pose error correction in Cartesian space and the speed control in joint space for robot trajectory tracking is presented. The effectiveness of the proposed method was verified by the simulation results.
作者
陈国栋
贾培发
宋亦旭
Chen, Guodong[1]; Jia, Peifa[1]; Song, Yixu[1]
出处
《高技术通讯》
EI
CAS
CSCD
北大核心
2009年第3期263-266,共4页
Chinese High Technology Letters
基金
863计划(2003AA421060)资助项目
关键词
外科辅助机器人
位姿闭环控制
视觉伺服
光学定位
surgery assistant robot, position and pose closed loop control, visual servo, optical positioning
