Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

Moment feedforward-based mechanical arm dragging hybrid control method for neurosurgery department

A neurosurgery and hybrid control technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as poor compliance control effect, influence of dynamic characteristics of robotic arms, neglect of dynamic characteristics of robotic arms, etc., and achieve high compliance and drag. Motion control, the effect of improving the soft control effect

Active Publication Date: 2022-01-11
WUHAN UNITED IMAGING HEALTHCARE SURGICAL TECH CO LTD
View PDF9 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] However, the compliant control based on admittance control ignores the dynamic characteristics of the manipulator itself, and the dynamic characteristics of the manipulator, such as inertial characteristics, friction characteristics, etc. It will also affect the dynamic characteristics of the manipulator
Therefore, the existing compliance control is not effective

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Moment feedforward-based mechanical arm dragging hybrid control method for neurosurgery department
  • Moment feedforward-based mechanical arm dragging hybrid control method for neurosurgery department
  • Moment feedforward-based mechanical arm dragging hybrid control method for neurosurgery department

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0038] In order to make the purpose, technical solution and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present application, and are not intended to limit the present application. In addition, the technical features involved in the different embodiments of the present invention described below may be combined with each other as long as there is no conflict with each other.

[0039] Compliant control is to control the manipulator based on the control signal obtained by the sensor, so that it can move in response to changes in environmental forces.

[0040] There are three main methods of compliant drag control: the compliant control method based on the joint torque sensor, the zero-force control method based on the dynamic model, and the admittance con...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention relates to a moment feedforward-based mechanical arm dragging hybrid control method and device for the neurosurgery department, computer equipment and a storage medium. The invention relates to the technical field of compliance control. According to the method, under the condition that it is detected that a mechanical arm bears external acting force, primary compensation is conducted on the mechanical arm on the basis of a kinetic model of the mechanical arm and a first joint rotating angle of the mechanical arm; gravity compensation is conducted on the mechanical arm on the basis of the second joint rotation angle of the mechanical arm after primary compensation; and secondary compensation is conducted on the mechanical arm on the basis of the result obtained after gravity compensation and the second joint rotation angle. The primary compensation is conducted on the basis of the dynamic model, and therefore the dynamic characteristics of the mechanical arm are fully considered in the compensation process, and then on this basis, gravity compensation and secondary compensation are conducted on the basis of the rotation angle of the second joint of the mechanical arm after the primary compensation, and high-compliance dragging control is achieved.

Description

technical field [0001] The present application relates to the technical field of compliance control, in particular to a torque feedforward-based hybrid control method, device, computer equipment and storage medium for manipulator dragging in neurosurgery. Background technique [0002] Compliant control is to control the manipulator based on the control signal obtained by the sensor to make it move in response to changes in environmental forces (external forces). The compliant control of the robotic arm is very important in surgical robot systems in the fields of neurology, abdominal cavity, orthopedics, etc. It is directly related to the doctor's subjective experience of operating the surgical robot. Better compliance will more realistically simulate the real operation of the doctor's arm. Make the operation of the robotic arm closer to the doctor's operation, thereby improving the surgical effect. [0003] In the prior art, the purpose of compliance control is generally ac...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/163
Inventor 杨坤黄浩
Owner WUHAN UNITED IMAGING HEALTHCARE SURGICAL TECH CO LTD
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products