Cooperative motion planning method and system for line-driven continuous robot endoscopic operation

Abstract

The invention discloses a method and system of planning of synergic movement of endoscopic operation of a line-driven continuous robot. The method comprises the steps that a continuous mechanical armof the line-driven continuous robot is obtained; the continuous mechanical arm is divided into a first virtual mechanical arm and a second virtual mechanical arm; an operation space preset movement path and a joint space preset movement path are acquired; a joint space differential movement rule of the first virtual mechanical arm under the condition of the operation space preset movement path anda joint space differential movement rule of the second virtual mechanical arm under the condition of the joint space preset movement path are calculated; and a differential movement rule of the wholecontinuous mechanical arm in the configuration space is calculated and used for achieving the synergic movement of the endoscopic operation of the line-driven continuous robot. By the adoption of themethod and system of planning of the synergic movement of the endoscopic operation of the line-driven continuous robot, planning of the synergic movement can be conducted in the operation space and the configuration space at the same time, the accidental contact or collision caused by configuration drifting can be avoided, the safety is high, and the working efficiency is high.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a collaborative motion planning method and system for line-driven continuous robot endoscopic operations. Background technique [0002] Wire-driven continuous robots are composed of multi-segment elastic bodies, which have broad application prospects in the fields of minimally invasive surgery, endoscopic detection, rehabilitation care, human-computer interaction, and human-computer collaboration. The line-driven continuous robot composed of multi-segment elastic bodies has the following characteristics: (1) The structural stiffness of the continuous robot mechanism is very low, and the nonlinear deformation caused by the force is large, so it is difficult to accurately establish the kinematics and dynamics model of the system; (2) Based on rough It is quite difficult to realize the precise movement and force manipulation control of the continuous robot by the model; (3) The outpu...

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Problems solved by technology

The line-driven continuous robot composed of multi-segment elastic bodies has the following characteristics: (1) The structural stiffness of the continuous robot mechanism is very low, and the nonlinear deformation caused by the force is large, so it is difficult to accurately establish the kinematics and dynamics model of the system; (2) Based on rough It is quite difficult to realize the precise movement and force manipulation control of the continuous robot by the model; (3) The output force and energy of the continuous robot are very limited, and it is not easy to realize the task of large-scale force manipulation; (4) In order to improve the operation accuracy of the continuous robot, This type of robot usually needs to use a large number of independent drive inputs, and there are many control inputs and state variables in the overall system of the robot, making real-time control difficult; (5) Compared with the requirements of the robot's operation tasks, this type of robot usually has super-redundant degrees of freedom. features

Due to the above-mentioned characteristics of the line-driven continuous robot, the inverse kinematics solution of the robot is not closed. When the robot performs repeated operations, the joint space configuration of the robot will drift, and this configuration drift will cause the robot to complete the terminal. During the operation task, the robot arm accidentally contacts or collides with the environment in the configuration space, resulting in the failure of the operation task

At present, in order to avoid the above situation, it is usually necessary to recalibrate the joint space configuration on a regular basis, which greatly reduces the working efficiency of the robot

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