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A method, device and system for force-position interlocking control of a robot

A chain control and robot technology, applied in the direction of program control of manipulators, manipulators, manufacturing tools, etc., can solve the problems of inaccurate force information and position information detection, affecting the stability of robot cooperation and cooperation, and achieve the effect of improving stability

Active Publication Date: 2022-01-04
WUHAN UNITED IMAGING HEALTHCARE SURGICAL TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to overcome the above-mentioned technical deficiencies, provide a robot force-position chain control method, device, system and computer storage medium, solve the inaccurate detection of the force information and position information of the robot end tool in the prior art, which affects the robot's ability to operate under the influence of the robot. Technical Problems of Stability of Cooperative Cooperation in Confined Areas

Method used

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  • A method, device and system for force-position interlocking control of a robot
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  • A method, device and system for force-position interlocking control of a robot

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Embodiment 1

[0020] Such as figure 1 As shown, Embodiment 1 of the present invention provides a robot force-position chain control method, comprising the following steps:

[0021] S1. Obtain the first force information of the end tool based on the detection of the internal sensor of the robot; obtain the first transformation matrix between the coordinate system of the end tool and the coordinate system of the robot base based on the detection of the internal sensor of the robot;

[0022] S2. Obtain the second force information of the end tool detected by the external sensor of the robot, and obtain the second transformation matrix between the end tool coordinate system and the robot base coordinate system detected by the external sensor of the robot;

[0023] S3. Determine whether the deviation between the first force information and the second force information is less than the force deviation threshold, and determine whether the deviation between the first transformation matrix and the s...

Embodiment 2

[0055] Embodiment 2 of the present invention provides a robot force-position chain control device, including a processor and a memory, and a computer program is stored on the memory. When the computer program is executed by the processor, the robot force provided by Embodiment 1 is realized. Bit chain control method.

[0056] The robot force-position interlock control device provided by the embodiment of the present invention is used to realize the robot force-position interlock control method. Therefore, the robot force-position interlock control device also possesses the technical effects of the robot force-position interlock control method, which will not be repeated here. repeat.

Embodiment 3

[0058] Such as figure 2 As shown, Embodiment 3 of the present invention provides a robot force-position chain control system, hereinafter referred to as the system, which includes the robot force-position chain control device provided in Embodiment 2, and also includes a robot 1, an end torque sensor 2, an end tool 3, The first optical array 41, the second optical array 42 and the optical device 44:

[0059] The end tool 3 is installed at the end of the robot 1; the end moment sensor 2 is installed between the robot 1 and the end tool 3, and is used to detect the second force information of the end tool 3; the The first optical array 41 is installed on the end tool 3, the second optical array 42 is installed on the robot 1, and the optical device 44 is used to track the first optical array 41 and the second optical array. The pose relationship matrix of the array 42; the robot force-position chain control device is used to calculate the end tool coordinate system and the rob...

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Abstract

The present invention relates to the technical field of robot control, and discloses a force-position interlocking control method for a robot, comprising the following steps: acquiring the first force information of an end tool detected based on the internal sensor of the robot; acquiring the first force information of the end tool detected based on the internal sensor of the robot The first transformation matrix of the coordinate system and the robot base coordinate system; obtain the second force information of the end tool based on the detection of the external sensor of the robot, and obtain the coordinate system of the end tool based on the detection of the external sensor of the robot and the coordinate system of the robot base The second transformation matrix: judging whether the deviation between the first force information and the second force information is less than the force deviation threshold, and judging whether the deviation between the first transformation matrix and the second transformation matrix is ​​less than the transformation deviation Thresholds, if they are all less than, the restricted area control is started, otherwise the restricted area control is not started. The invention has the technical effect of high cooperation stability in a restricted area.

Description

technical field [0001] The invention relates to the technical field of robot control, in particular to a robot force-position chain control method, device, system and computer storage medium. Background technique [0002] Robots often need to impose some constraints on the force and position of the end tool in a collaborative environment. For example, in the operation of orthopedic surgery robots, users often perform some human-computer interaction actions, that is, drag the robotic arm to move in a restricted area. The tools installed at the end of the robot may come into contact with the patient's body parts. At this time, the force and position of the end tools need to be constrained to prevent the patient from being injured by the end tools due to misuse. The restricted area refers to the position range that needs to be constrained by force and position. The restricted area can be set as a cone, a cone plus a cylinder, or a tetrahedron. In the surgical robot, the restric...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/1602
Inventor 陈龙陈超民占雄谢强
Owner WUHAN UNITED IMAGING HEALTHCARE SURGICAL TECH CO LTD