Driving compensation method for rope-driving continuum robot

Abstract

The invention discloses a driving compensation method for a rope-driving continuum robot. The method specifically comprises the following steps of establishing a kinematic model of the continuum robot by combining a segmented constant curvature arc hypothesis and a geometric analysis method; solving Jacobian matrix of the robot based on differential transformation principle; establishing a statics model of the robot based on virtual work principle; building a force transmission model of a rope-wheel drive system based on Coulomb friction; solving the elongation of a robot driving rope based on Hooke's law; and feeding back the driving rope length compensation amount to a control unit to realize error compensation of the transmission system of the continuum robot and improve the motion control precision of the robot. The method of has the characteristics of simplicity, high efficiency, low cost, good universality and the like, avoids using expensive measuring sensors, and realizes thepurpose of improving the motion control precision of the robot by establishing a driving error compensation model of the continuum robot system.

Description

technical field [0001] The invention relates to a drive compensation method for a rope-driven continuum robot, and relates to the technical field of continuum robot control. Background technique [0002] Continuum robots are widely used in the field of minimally invasive interventional surgery due to their unique characteristics of flexibility, flexibility and safety. Compared with the traditional rigid articulated robot, the continuum robot is a kind of robot that imitates natural creatures, such as elephant trunks, octopus tentacles, etc., and can flexibly change its shape to adapt to small and unstructured workspaces. surroundings. Interventional surgery based on continuum robots has high safety and efficiency, not only can reduce the work intensity and technical requirements of doctors, reduce the degree of radiation exposure of doctors and patients, but also improve the quality and efficiency of interventional surgery, ensuring that The success rate and precision of i...

AI Technical Summary

Problems solved by technology

[0003] Due to the modeling error of the continuum robot system, the friction error between the driving rope and the guide wheel, and the rebound error of the rope, the control accuracy of the end position of the continuum robot is low, which may cause tissue and organ damage. Even threatening the life of the patient, it is necessary to model and compensate the motion control system of the continuum robot to improve the control accuracy of the robot itself and ensure the safety and stability of minimally invasive interventional surgery

[0004] At present, the method of real-time tracking and feedback control of the end pose of the robot through expensive external measurement equipment to improve the position accuracy of the robot is expensive, and the continuum robot used for vascular interventional surgery is small in size, and traditional sensing equipment cannot Integrated into the robot body, poor versatility

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