Control system, control method and surgical robot for robotic arm

Abstract

The invention relates to a control system and a control method for a mechanical arm and an operation robot. The method comprises the following steps: providing a terminal sliding mode surface related to the joint position error and speed error, and calculating the distance from the joint position of the mechanical arm to the terminal sliding mode surface in a state space, wherein the state variables of the state space include the position error and the speed error; designing a fast reaching law for the distance from the joint position to the terminal sliding mode surface; obtaining a complete expression of a sliding mode control law according to a kinetic model of the mechanical arm and the fast reaching law; outputting a torque instruction according to a slider control law; and performing saturation limitation of the torque instruction to obtain a final torque output instruction which is used for controlling the motor action of each joint to drive each joint of the mechanical arm to reach the designed position. The method can improve the control performance of the mechanical arm.

Description

technical field [0001] The invention relates to a control system, a control method and a surgical robot of a mechanical arm of a robot system. Background technique [0002] In a minimally invasive surgical robot system, the accuracy of each joint determines the motion accuracy and working performance of the entire robot system, and in the entire system, the following performance of the master manipulator and the slave robot arm is the key to ensuring the accuracy of the system. The main operating hand is the manipulator held by the doctor, and it can also be referred to as "main operating hand" or "main hand". The slave robotic arm is the robotic arm installed on the patient-side robot. During surgery, it will be inserted into the human body to perform specific surgical operations. It can be referred to as the slave arm for short. The following effect between the master-slave manipulator is achieved through the master-slave control. The purpose is to adopt a specific contro...

AI Technical Summary

Problems solved by technology

[0004] At present, the control system based on the feedforward controller and the PD controller in the active control state of the main operator, because the PD control essentially operates on the deviation, when the deviation is zero, the control effect is also zero, and when there is friction In the case of non-linear items such as gravity and gravity, the deviation will not be 0, and the servo stiffness of the main operator is generally small, so the static error cannot be eliminated well

Moreover, when the slave manipulator starts to follow the posture of the master operator, due to the effect of static error, the position and posture of the slave manipulator will change suddenly, which will easily cause dangerous consequences during the operation.

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