Numerical solution for the inverse kinematics of a tandem manipulator with a triangular telecentric mechanism
A numerical solution and inverse kinematics technology, applied in computer control, general control systems, instruments, etc., can solve problems such as low precision and poor real-time performance, and achieve the effect of small amount of calculation
Active Publication Date: 2018-09-07
HARBIN INST OF TECH
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[0003] In order to solve the problems of low precision and poor real-time performance of the existing minimally invasive surgical manipulator control system, the present invention further proposes a numerical solution to the inverse kinematics of the serial manipulator with a triangular telecentric point mechanism
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specific Embodiment approach 1
[0017] Specific implementation mode one: combine Figure 1 to Figure 3 To illustrate this embodiment, the specific steps of this embodiment for the inverse kinematics numerical solution of a series manipulator with a triangular telecentric point mechanism are as follows:
[0018] Step 1. Assume that the end point of the manipulator and the starting point of the wrist are O 4 Coincident, that is, ignoring the three joints at the wrist, this is assumption A;
[0019] Step 2. According to assumption A, the position component of the input volume end point pose matrix and O 0 The subtraction of the position vector of the far-center point in the coordinate system is O 0 The displacement q of the third joint in the coordinate system 3 The space vector of the third joint is calculated to obtain the displacement q of the third joint 3 The intermediate computed value of , named q 13 ;
[0020] Step 3. According to assumption A, the displacement q of the first joint can be uniquely d...
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The invention provides an inverse kinematics numerical solution for a series manipulator with a triangular apocenter mechanism, relating to a series manipulator inverse kinematics numerical solution, particularly relating to an inverse kinematics numerical solution for a series manipulator with a triangular apocenter mechanism. The invention aims to solve the problems of low precision and poor real-time performance of an existing minimally invasive surgical manipulator control system. The method concretely comprises a step of assuming that a manipulator end point and a wrist starting point O4 are in coincidence, which means that three joints of a wrist are ignored, wherein the above assumption is taken as an assumption A, and a step of inputting the position component of an end-point posture matrix to be subtracted by the apocenter position vector in an O0 coordinate system to obtain the space vector of the displacement amount q3 of a third joint in the O0 coordinate system according to the assumption A, and calculating the intermediate calculation amount of the third joint displacement amount q3, wherein the intermediate calculation amount is named as q13. The inverse kinematics numerical solution belongs to the field of minimally invasive medical devices.
Description
technical field [0001] The invention relates to a numerical solution to the inverse kinematics of a series manipulator, in particular to a numerical solution to the inverse kinematics of a series manipulator with a triangular apocenter mechanism, and belongs to the field of minimally invasive medical devices. Background technique [0002] Compared with traditional open surgery, minimally invasive surgery has the advantages of small surgical incision, small postoperative scar, and fast recovery time. Therefore, minimally invasive surgery is widely used in clinical operations. Minimally invasive surgical robots using master-slave control have improved the accuracy and application range of minimally invasive surgery, so they have broad market prospects. The robotic arm of a minimally invasive surgical robot usually uses a telecentric fixed-point motion mechanism to realize the positioning of surgical instruments in the human body. The telecentric motion of the triangular telec...
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IPC IPC(8): G05B19/408
CPCG05B19/4086G05B2219/40505
Inventor 潘博付宜利曲效锋王树国艾跃
Owner HARBIN INST OF TECH