A method for dragging and guiding positioning of a manipulator based on joint torque
A joint torque, guidance and positioning technology, applied in surgical manipulators, surgical robots, computer-aided surgery, etc., can solve the problems of convenience, small safety risks, and low cooperation between robotic arms and doctors, and reduce production. Cost, high security, direct and clear effect of control instructions
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[0015] In order to clarify the technical details of the present invention, the content of the present invention will be further described in detail below with reference to the accompanying drawings and examples.
[0016] like figure 1 As shown, the method for dragging, guiding and positioning a mechanical arm based on joint torque provided by the present invention includes the following steps:
[0017] S1. Acquisition of joint torque data of the robotic arm;
[0018] In order to make the expression more precise, it is hereby stated that the joint torque mentioned below refers to the transmission torque, that is, the vector sum of all the moments generated between the connecting rod and the connecting rod. According to the different types of manipulators, the acquisition methods of joint torque can be divided into three types: motor current estimation, joint torsion amplitude estimation and strain gage measurement. The motor current estimation uses the proportional relationsh...
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