Control method of mechanical arm, computer equipment and storage medium

A control method and technology of a robotic arm, applied in the field of medical robots, can solve problems such as low control efficiency and unfavorable surgical applications, and achieve the effect of improving control accuracy and efficiency

Active Publication Date: 2021-06-18
WUHAN UNITED IMAGING HEALTHCARE SURGICAL TECH CO LTD
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  • Application Information

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Problems solved by technology

[0004] However, the above-mentioned control method has the problem of low control e

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  • Control method of mechanical arm, computer equipment and storage medium
  • Control method of mechanical arm, computer equipment and storage medium
  • Control method of mechanical arm, computer equipment and storage medium

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[0053] In order to make the objectives, technical solutions and advantages of the present application more clear, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application, but not to limit the present application.

[0054] The control method of the manipulator provided in this application can be applied to such as figure 1 in the application system shown. The robotic arm 102 can communicate with the control terminal 104 in a wireless or wired manner. The robotic arm 102 can be any medical robotic arm with 5 degrees of freedom connected in series, including: a base O, a joint G1, a link L1, a joint G2, a link L2, a joint G3, a link L3, a joint G4, Link L4, joint G5, link L5. The mechanical arm structure description: the link L1 is assembled on the base O through the joint G1; the link L2 ...

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Abstract

The invention relates to a control method of a mechanical arm, computer equipment and a storage medium. According to the method, the pose and the rotating angle of a tool instrument are obtained, joint values of all joints on the mechanical arm are determined according to the pose and the rotating angle of the tool instrument, and then a target joint value of the mechanical arm is determined according to the joint values of all the joints on the mechanical arm through a mechanical arm forward kinematics solving method. According to the method, the rotating angle of the tool instrument around an axis is set at the tail end of the mechanical arm, so that an original five-degree-of-freedom mechanical arm is converted into a six-degree-of-freedom mechanical arm, and the problem that the tail end pose of the mechanical arm cannot be accurately obtained due to the lack of one degree of freedom is solved; and meanwhile, analytic solutions of the joint values of all the joints can be obtained by applying the rotating angle of the tool instrument around the axis, so that the control accuracy and efficiency of the mechanical arm are improved.

Description

technical field [0001] The present application relates to the technical field of medical robots, in particular to a control method of a mechanical arm, a computer device and a storage medium. Background technique [0002] With the rapid development of robot technology, robots have been widely used in the medical field, mainly in surgical operations, auxiliary medical diagnosis, etc., so the control of medical robots is particularly important. [0003] At present, the control of medical robots is mainly to control the 5 degrees of freedom medical manipulator, and in the control process, there is no analytical solution for its configuration, and the numerical iterative algorithm is used to solve the 5 degrees of freedom according to the command pose of the end of the medical manipulator The element equations are used to calculate the angle value of each joint of the medical robotic arm to control the medical robotic arm to perform corresponding surgical operations or positioni...

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Application Information

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IPC IPC(8): B25J9/16B25J17/02B25J18/00
CPCB25J9/1602B25J9/1656B25J17/02B25J18/00
Inventor 杨坤黄浩宋伟凡谢强
Owner WUHAN UNITED IMAGING HEALTHCARE SURGICAL TECH CO LTD
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