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Master-slave snake robot system and its position control method

A snake-like robot and main robot technology, which is applied in the direction of program-controlled manipulators, manipulators, manufacturing tools, etc., can solve the problems of poor real-time control

Active Publication Date: 2018-06-22
SHENZHEN INST OF ADVANCED TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

The traditional master-slave snake robot position control method has the disadvantage of poor real-time control

Method used

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  • Master-slave snake robot system and its position control method
  • Master-slave snake robot system and its position control method
  • Master-slave snake robot system and its position control method

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Embodiment Construction

[0022] In one embodiment, a position control method of a master-slave snake robot system, such as figure 1 shown, including the following steps:

[0023] Step S120: Obtain the position information of the master hand of the master robot, and perform master-slave mapping changes on the position information of the master hand to obtain position information of the master-slave map.

[0024] Specifically, the master-slave control system can receive the master-hand movement command of the master robot, and obtain the position change information of each joint of the master-hand in the master robot according to the master-hand motion command. Position change information in a Cartesian space coordinate system. It can be understood that in other embodiments, the position change information of each joint of the main hand may also be collected directly.

[0025] After the master-hand position information of the master robot is collected, according to the preset master-slave mapping rela...

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Abstract

The invention relates to a master-slave mode snake-like robot system and a position control method thereof. Master manipulator information of a master robot is obtained and subjected to master-slave mapping change to obtain master-slave mapping position information. Actual displacement variation of a slave robot is obtained, and slave manipulator position error is obtained through calculation according to the actual displacement variation of the slave robot. According to the master-slave mapping position information and the slave manipulator position error, slave manipulator angle variation is obtained by processing with a neural network correlation pruning algorithm and output to the slave robot so as to control the slave robot to move following with the master robot. Through the neural network correlation pruning algorithm, precise position control over the slave robot and the master robot is achieved, reverse kinematics does not need to be conducted on the slave robot, solution multiplicity is avoided, the number of degrees of freedom of the slave robot is not limited, and control real-time performance is improved.

Description

technical field [0001] The invention relates to the technical field of robot control, in particular to a master-slave snake robot system and a position control method thereof. Background technique [0002] The snake-shaped medical robot can enter the space that cannot be reached by human hands, enter the natural cavity of the human body to complete surgery and fixed-point drug delivery, and fix one end of the snake-shaped medical robot, then it becomes an operator with redundant degrees of freedom, which can complete Complicated grasping action can be operated in a narrow space. [0003] The traditional master-slave snake-like robot position control method is controlled by the Jacobian algorithm, picking up the speed change of the master hand in three-dimensional space, modeling the kinematics of the slave hand, calculating its Jacobian matrix, and inverting the matrix. Convert instantaneous velocity to displacement. This method has strong restrictions on the degree of fre...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/06B25J9/16
CPCB25J9/065B25J9/161B25J9/1664
Inventor 李橡欣任岭雪韩世鹏李栓熊璟王磊
Owner SHENZHEN INST OF ADVANCED TECH
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