A method for testing the operation error between the robot's master hand and slave hand

Abstract

The present invention relates to the technical field of surgical robots, and discloses a method for testing the operation errors of a robot master hand and a slave hand, comprising the following steps: establishing a first measurement coordinate system based on a master hand control arm; establishing a second measurement coordinate system based on a slave hand mechanical arm; presetting a test space model based on the activity space range of the manual controller, and presetting a test route in the test space model; a plurality of target points are provided at the end of the master hand manual controller, and a plurality of target points are provided at the end effector of the slave hand; the manual controller is controlled to move along the test route, and the three-dimensional coordinates of the target points are obtained, and the operation errors of the manual controller and the end effector are described based on the three-dimensional coordinates of the target points, namely, the operation errors of the robot master hand and the slave hand, which is conducive to accurately evaluating the action consistency of the master hand and the slave hand, and providing verification data for improving and enhancing the action consistency of the master hand and the slave hand.

Description

Technical Field

[0001] The present invention relates to the technical field of surgical robots, and in particular to a method for testing operating errors between a master hand and a slave hand of a robot. Background Art

[0002] Minimally invasive surgery refers to a surgical method that uses modern medical instruments such as laparoscopes and thoracoscopes and related equipment to perform surgery inside the human body cavity. Compared with traditional surgical methods, minimally invasive surgery has the advantages of less trauma, less pain, and faster recovery. However, due to the limitation of the size of the incision, the difficulty of minimally invasive instruments in minimally invasive surgery is greatly increased, and the fatigue and trembling of doctors during long operations will be magnified, which has become a key factor restricting the development of minimally invasive surgical technology. With the development of robotics technology, a new technology in the field of minimally invasive medicine that can overcome shortcomings and inherit advantages has emerged - minimally invasive surgical robot technology.

[0003] Common minimally invasive surgical robots consist of a doctor's console (master hand), a patient surgical platform (slave hand), and a display device. The surgeon inputs the movements by holding the opening and closing clamp at the master hand end, and maps them to the surgical instruments installed at the end of the slave hand robotic arm through kinematic solution, and controls the surgical instruments to complete the surgical movements. Therefore, the movements of the slave hand instrument end must be consistent with those of the master hand manual controller. However, in actual use, due to problems such as algorithms and power transmission, there is often a certain error between the movements of the slave hand instrument end and the movements of the master hand manual controller. When the error is too large, it will cause the doctor to have inconvenience in operation and be unable to control it, thereby reducing the success rate of the operation. Therefore, the movement error between the slave hand instrument end and the master hand manual controller is a major factor affecting the surgical effect. Therefore, it is necessary to accurately test and describe the movement error between the slave hand instrument end and the master hand manual controller. Summary of the invention

[0004] The object of the present invention is to provide a method for testing the operation error between a robot master hand and a slave hand, which can accurately complete the testing and description of the operation error between the robot master hand and the slave hand.

[0005] In order to solve the above technical problems, the embodiments of the present invention provide a technical solution as follows:

[0006] A method for testing operation errors between a robot master hand and a slave hand comprises the following steps:

[0007] S1, establish the coordinate system, preset the test space model, preset the test route and target, including:

[0008] Establishing a first measurement coordinate system {Om-xyz} based on the master hand control arm;

[0009] Establishing a second measurement coordinate system {Os-xyz} based on the slave manipulator;

[0010] A manual controller is provided at the free end of the master hand control arm, a test space model is preset based on the activity space range of the manual controller, and a test route is preset in the test space model;

[0011] The free end of the manual controller is provided with an opening and closing clamp, the target points include a first target measuring point, a second target measuring point, and a third target measuring point which are sequentially spaced along the circumference of the opening and closing clamp, the free end of the slave hand is provided with an end effector, and the target points include a fourth target measuring point, a fifth target measuring point, and a sixth target measuring point which are sequentially spaced along the circumference of the end effector;

[0012] S2, obtain three-dimensional coordinates, including:

[0013] Control the manual controller to move along the test route, obtain the three-dimensional coordinates of the first target measuring point, the second target measuring point, and the third target measuring point at the starting point and the end point of the test route based on the first measurement coordinate system, and obtain the three-dimensional coordinates of the fourth target measuring point, the fifth target measuring point, and the sixth target measuring point at the starting point and the end point of the test route based on the second measurement coordinate system;

[0014] S3, based on the partial three-dimensional coordinates obtained in S2, the operation errors of the manual controller and the end effector are described. By establishing the first measurement coordinate system based on the master hand control arm and the second measurement coordinate system based on the slave hand mechanical arm, and setting multiple targets on the manual controller and the end effector, the master hand controller is controlled to move along the test route, and the coordinate data of the target points are obtained, so that the operation errors of the manual controller and the end effector can be calculated and accurately described, and the operation errors of the robot master hand and the slave hand can be accurately tested and described, which is conducive to accurately evaluating the consistency of the movements of the master hand and the slave hand, and providing verification data for improving and enhancing the consistency of the movements of the master hand and the slave hand.

[0015] Furthermore, the first measurement coordinate system {Om-xyz} based on the master hand control arm is established in S1, including establishing the first base coordinate system {O'm-xyz} based on the motion trajectories of the first main joint and the second main joint of the master hand control arm, and taking the Y' axis of the first base coordinate system {O'm-xyz} as the rotation axis, rotating 230° in the positive direction according to the right-hand rule to obtain the first measurement coordinate system {Om-xyz}. The first base coordinate system is transformed by the first base coordinate system in combination with the position of the observation window to obtain the first measurement coordinate system, which can effectively restore the actual operating conditions of the equipment and improve the accuracy of the test.

[0016] Furthermore, the second measurement coordinate system {Os-xyz} based on the slave manipulator is established in S1, including the second base coordinate system {O's-xyz} established based on the motion trajectories of the sixth, seventh and eighth slave joints of the slave manipulator, and the second base coordinate system {O's-xyz} Y1' axis is used as the rotation axis, and the second measurement coordinate system {Os-xyz} is obtained by rotating -30° according to the right-hand rule. The second measurement coordinate system obtained by directional transformation through the first base coordinate system can effectively restore the actual operating conditions of the equipment and improve the accuracy of the test.

[0017] Furthermore, the test space model does not exceed the limit activity space range of the manual controller, the test space model of S1 is a cuboid, the eight vertices of the cuboid are A, B, C, D, E, F, G, H, respectively, and the test route is the four spatial diagonals of the cuboid test space model, namely AG, BH, CE, DF. Selecting the diagonals of the test space model is conducive to increasing the straight-line distance of the test route within the test space model, further amplifying the error of the master hand and slave hand operation, facilitating the error test of the robot master hand and slave hand operation, and increasing the accuracy of the test results.

[0018] Furthermore, the manual controller is provided with a manual controller reference point MP, the first target measuring point, the second target measuring point, and the third target measuring point are located on the same circumference with the manual controller reference point MP as the center, and the line connecting the first target measuring point and the third target measuring point passes through the manual controller reference point MP. By distributing the first target measuring point, the second target measuring point, and the third target measuring point on the same circumference with the manual controller reference point MP as the center, the coordinates of the manual controller reference point MP can be accurately calculated through the three-dimensional coordinates of the target measuring points, so as to facilitate the description of the test results of the operation errors of the robot master hand and the slave hand.

[0019] Furthermore, the end effector is provided with an end effector reference point SP, the fourth target measuring point, the fifth target measuring point, and the sixth target measuring point are located on the same circumference with the end effector reference point SP as the center, and the line connecting the fourth target measuring point and the sixth target measuring point passes through the end effector reference point SP. By distributing the fourth target measuring point, the fifth target measuring point, and the sixth target measuring point on the same circumference with the end effector reference point SP as the center, the coordinates of the end effector reference point SP can be accurately calculated through the three-dimensional coordinates of the target measuring points, so as to facilitate the description of the test results of the operation errors of the robot master hand and the slave hand.

[0020] Furthermore, the three-dimensional coordinates of the manual controller reference point MP and the three-dimensional coordinates of the end effector reference point SP are obtained, and the operation errors of the manual controller and the end effector are described, including the accuracy of the master hand and slave hand operation distance. , ,in, , ,

[0021] ,

[0022] ,

[0023] in, The number of repetitions of the movement along the test route for the manual controller; For the Secondary measurement; is the movement distance of the manual controller reference point MP; is the movement distance of the end effector reference point SP; The master-slave distance scaling constant; is the three-dimensional coordinate of the manual controller reference point SP in the first measurement coordinate system when the manual controller moves to point A on the test route, , , for Component coordinates; is the three-dimensional coordinate of the manual controller reference point SP in the first measurement coordinate system when the manual controller moves to point G on the test route, , , for Component coordinates of ; is the three-dimensional coordinate of the end effector reference point SP in the second measurement coordinate system when the manual controller moves to point A on the test route, , , for Component coordinates of ; is the three-dimensional coordinate of the end effector reference point SP in the second measurement coordinate system when the manual controller moves to point G on the test route, , , for The component coordinates of .

[0024] Furthermore, the three-dimensional coordinates of the reference point of the manual controller and the three-dimensional coordinates of the reference point of the end effector are obtained, and the operation errors of the manual controller and the end effector are described, including the distance accuracy of the master hand and slave hand operation components. , ,in, , , , , , , , , is the movement distance of the manual controller reference point MP along the first measurement coordinate system , , Directional component; , , is the movement distance of the end effector reference point SP along the second measurement coordinate system , 1. Direction component.

[0025] Furthermore, the operation errors of the manual controller and the end effector are described, including the operation accuracy of the master hand and the slave hand. , .

[0026] Furthermore, the operation errors of the manual controller and the end effector are described, including the accuracy of the master hand and slave hand operation components. , , , , , .

[0027] Furthermore, the operation errors of the manual controller and the end effector are described, including the repeatability of the operation distance between the master hand and the slave hand. , , .

[0028] Further, the third main joint and the fourth main joint of the manual controller are adjusted to generate different postures of the test space model, the posture axis angle between any vertices of the test space model is greater than 15°, the manual controller is controlled to move along the test route in the test space model, and the three-dimensional coordinates of the first target measuring point, the second target measuring point, and the third target measuring point at the starting point and the end point of the test route based on the first measurement coordinate system are obtained, and the three-dimensional coordinates of the fourth target measuring point, the fifth target measuring point, and the sixth target measuring point at the starting point and the end point of the test route based on the second measurement coordinate system are obtained.

[0029] Furthermore, based on the obtained three-dimensional coordinates of the first target measurement point, the second target measurement point, the third target measurement point, the fourth target measurement point, the fifth target measurement point, and the sixth target measurement point, the operation errors of the manual controller and the end effector are described, including the operation posture accuracy of the master hand and the slave hand. , ,in , , , n is the number of times the manual controller repeats the movement along the test route, i is the i-th measurement, is the posture description matrix of the first measurement coordinate system in the first base coordinate system, Set the attitude description matrix of the second base coordinate system for the second measurement coordinate system at the slave end, for and The relative posture of for The corresponding axis angle.

[0030] Furthermore, based on the obtained three-dimensional coordinates of the first target measurement point, the second target measurement point, the third target measurement point, the fourth target measurement point, the fifth target measurement point, and the sixth target measurement point, the operation errors of the manual controller and the end effector are described, including the repeatability of the operation postures of the master hand and the slave hand. , ,in, for The standard deviation of . BRIEF DESCRIPTION OF THE DRAWINGS

[0031] One or more embodiments are exemplarily described by pictures in the corresponding drawings, and these exemplified descriptions do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings represent similar elements, and unless otherwise stated, the figures in the drawings do not constitute proportional limitations.

[0032] Figure 1 is a flow chart of a method for testing operation errors between a robot master hand and a slave hand in an embodiment of the present invention;

[0033] Figure 2 2 is a schematic diagram of the three-dimensional structure of the doctor's console in an embodiment of the present invention;

[0034] Figure 3 is a schematic diagram of the three-dimensional structure of a patient surgical platform in an embodiment of the present invention;

[0035] Figure 4 is a schematic diagram of the three-dimensional structure of a manual controller in an embodiment of the present invention;

[0036] Figure 5 This is a schematic diagram of the structure of the manual controller after the target ball is installed in the embodiment of the present invention;

[0037] Figure 6 1 is a schematic diagram of the relative position structure of the reference point and the target point of the manual controller in an embodiment of the present invention;

[0038] Figure 7 is a partial schematic diagram of the combined structure of the end effector and the target ball in an embodiment of the present invention;

[0039] Figure 8 is a schematic diagram of the relative position structure of the reference point and the target point of the end effector in an embodiment of the present invention;

[0040] Fig. 9 It is a schematic diagram of the test space model structure preset based on the manual controller.

[0041] Explanation of reference numerals: 100, doctor's console; 110, left control arm; 120, right control arm; 121, first main joint; 122, second main joint; 130, observation window; 140, base; 200, patient surgery platform; 210, first robotic arm; 220, second robotic arm; 230, third robotic arm; 240, fourth robotic arm; 201, first slave joint; 202, second slave joint; 203, third slave joint; 204, fourth slave joint; 205, fifth slave joint; 206, fourth slave joint Six slave joints; 207, seventh slave joint; 208, eighth slave joint; 1, first target ball; 10, first target measuring point; 2, second target ball; 20, second target measuring point; 3, third target ball; 30, third target measuring point; 4, fourth target ball; 40, fourth target measuring point; 5, fifth target ball; 50, fifth target measuring point; 6, sixth target ball; 60, sixth target measuring point; 7, manual controller; 71, opening and closing clamp; 72, third main joint; 73, fourth main joint; 8, target ball bracket; 9, end effector; 91, movable axis. DETAILED DESCRIPTION

[0042] In order to make the purpose, technical scheme and advantages of the present invention clearer, the following will be described in detail with reference to the accompanying drawings. However, it will be appreciated by those skilled in the art that in the various embodiments of the present invention, many technical details are provided in order to enable the reader to better understand the present application. However, even without these technical details and various changes and modifications based on the following embodiments, the technical scheme claimed for protection in the claims of the present application can be implemented.

[0043] It should be noted that if the embodiments of the present application involve directional indications (such as up, down, left, right, front, back...), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indications will also change accordingly.

[0044] In one embodiment of the present invention, a method for testing the operation error between a robot master hand and a slave hand is provided. Figure 2The figure shows a doctor console 100 involved in an embodiment of the present invention, wherein the doctor console 100 includes a pair of master hand control arms, wherein the master hand control arms include a left control arm 110 and a right control arm 120 arranged opposite to each other, and an observation window 130 for the doctor to observe the surgical process. The left control arm 110 is used for the left hand of the equipment operator to input actions, and the right control arm 120 is used for the right hand of the equipment operator to input actions; the left control arm 110 and the right control arm 120 are arranged in a corresponding structure and function. Taking the right control arm 120 as an example, the right control arm 120 includes a plurality of joints, a first main joint 121 and a second main joint 122, and a manual controller 7 is provided at the free end of the right control arm 120, and the manual controller 7 includes a plurality of movable joints, and an opening and closing clamp 71 is provided at the free end of the manual controller 7. The equipment operator, such as a surgeon, can hold the opening and closing clamp 71 to drive the manual controller 7 to move in a spatial position, and control the movement of the execution components of the patient surgical platform 200 through motion mapping.

[0045] like Figure 3 The figure shows a patient surgical platform 200 involved in an embodiment of the present invention, wherein the patient surgical platform 200 is provided with a plurality of slave manipulators, wherein the slave manipulators are provided with a plurality of movable shafts 91 and joints connected by the movable shafts 91, and the manipulators are used for the installation of surgical instruments and image transmission equipment. In an embodiment, the slave manipulators include a first manipulator 210, a second manipulator 220, a third manipulator 230, and a fourth manipulator 240 which are sequentially arranged, and the structures of the first manipulator 210, the second manipulator 220, the third manipulator 230, and the fourth manipulator 240 are consistent. Taking the first manipulator 210 as an example, the slave manipulator includes a first slave joint 201, a second slave joint 202, a second slave joint 203, a third slave joint 203, a fourth slave joint 204, a fifth slave joint 205, a sixth slave joint 206, a seventh slave joint 207, and an eighth slave joint 208 which are sequentially arranged.

[0046] like Figure 1 As shown, the robot master hand and slave hand operation error testing method at least includes the following steps:

[0047] S1, establish a coordinate system, preset test space model, preset test route and target point, including: establish a first measurement coordinate system {Om-xyz} based on the master hand control arm; in an exemplary example, select the right control arm 120 of the doctor's console 100 as the test control arm, drive the first main joint 121 and the second main joint 122 of the right control arm 120 to rotate smoothly, collect the motion trajectory through the three-dimensional measuring instrument and fit the rotation axis of the first main joint 121 and the second main joint 122, and establish the first base coordinate system {O'm-xyz} of the test control arm, whose origin O' is the intersection of the common perpendicular line of the rotation axis of the first main joint 121 and the rotation axis of the second main joint 122, and the Z' axis is the rotation axis of the first main joint 121, which is positive upward. The X' axis is the common perpendicular line between the rotation axis of the first main joint 121 and the rotation axis of the second main joint 122, and the direction pointing to the free end of the control arm is positive. The Y' axis of the first base coordinate system {O'm-xyz} is used as the rotation axis, and is rotated 230° in the positive direction according to the right-hand rule to obtain the first measurement coordinate system {Om-xyz}, where the origin of the first measurement coordinate system is O, and the coordinate directions of the first measurement coordinate system are X, Y, and Z, respectively; the pitch joint of the base 140 of the doctor's console 100 is controlled to move to a specified position, so that the vertical direction of the field of view of the observation window 130 is at an angle of 50° to the X' axis direction of the first base coordinate system, so that the direction of the first measurement coordinate system is aligned with the field of view of the observation window 130, so as to facilitate the doctor's observation, and keep the field of view of the observation window 130 consistent with the execution angle direction of the end effector 9, which can effectively restore the actual operating conditions of the equipment and improve the accuracy of the test.

[0048] A second measurement coordinate system {Os-xyz} based on the slave manipulator is established; in an exemplary example, the second manipulator 220 of the slave manipulator is selected as the endoscope installation, and the fourth manipulator 240 is selected as the measurement manipulator. Drive the first slave joint 201, the second slave joint 202, the third slave joint 203, and the fourth slave joint 204 of the second robot arm 220 and the fourth robot arm 240 to move, so that the fifth slave joint 205, the sixth slave joint 206, the seventh slave joint 207, and the eighth slave joint 208 of the second robot arm 220 and the fourth robot arm 240 are aligned; install the endoscope on the second robot arm, drive the fifth slave joint 205 and the sixth slave joint 206 to be placed at zero position, the seventh slave joint 207 to be placed at 80°, and the eighth slave joint 208 to be placed at 130 mm; then, install the end effector 9 on the fourth robot arm 240, drive the fifth slave joint 205, the sixth slave joint 206, and the seventh slave joint 207 to be placed at zero position, and the eighth joint to be placed at 146 mm. The end effector 9 joint is placed at zero position, and the eighth joint is a lifting joint. When the eighth joint is at the maximum position of the distal point, the eighth joint is regarded as zero position.

[0049] The sixth joint 206, the seventh joint 207 and the eighth joint 208 of the second robot arm 220 are controlled to rotate (or move) smoothly respectively, and the motion trajectory is collected by a three-dimensional measuring instrument and the rotation axes of the sixth joint 206 and the seventh joint 207 and the movement trajectory of the eighth joint 208 are fitted, and a second base coordinate system {O's-xyz} is established: its origin O1' is the midpoint of the common perpendicular line of the rotation axis of the sixth joint 206 and the rotation axis of the seventh joint 207, and the Z1' axis is the movement trajectory of the eighth joint 208, and the direction pointing to the base 140 is positive. The Y1' axis is the rotation axis of the seventh slave joint 207, and the direction pointing to the fourth robot arm 240 is positive; with the Y1' axis as the rotation axis, and the Y1' axis of the second base coordinate system {O's-xyz} as the rotation axis, rotate -30° according to the right-hand rule to obtain the second measurement coordinate system {Os-xyz}, the origin of the second measurement coordinate system {Os-xyz} is O1, and the coordinate directions of the second measurement coordinate system are X1, Y1, and Z1 respectively. The second measurement coordinate system obtained by directional transformation through the first base coordinate system can effectively restore the actual operating conditions of the equipment and improve the accuracy of the test.

[0050] The free end of the master hand control arm is provided with a manual controller 7, a test space model is preset based on the activity space range of the manual controller 7, and a test route is preset in the test space model; Fig. 9 As shown, the test space model does not exceed the limit activity space range of the manual controller 7, the test space model is a cuboid, the eight vertices of the cuboid are A, B, C, D, E, F, G, H, respectively, and the test route is the four spatial diagonals of the cuboid test space model, namely AG, BH, CE, DF. Selecting the preset space model diagonal as the test route is conducive to increasing the straight-line distance of the test route in the test space model, further amplifying the error of the master hand and slave hand operation, facilitating the error test of the robot master hand and slave hand operation, and increasing the accuracy of the test results.

[0051] The free end of the manual controller 7 is provided with an opening and closing clamp 71, and a plurality of target measuring points are established with the opening and closing clamp 71 as a reference. In one example, a first target measuring point 10, a second target measuring point 20, and a third target measuring point 30 are sequentially spaced along the circumference of the opening and closing clamp 71. The free end of the slave hand is provided with an end effector 9; a plurality of target measuring points are established with the end effector 9 as a reference. In one example, a fourth target measuring point 40, a fifth target measuring point 50, and a sixth target measuring point 60 are sequentially spaced along the circumference of the end effector 9; Figure 4-6As shown, in one embodiment, the manual controller 7 includes a plurality of movable joints, an opening and closing clamp 71 is provided at the free end of the manual controller 7, a reference point MP of the manual controller 7 is provided corresponding to the driving gear of the opening and closing clamp 71, the opening and closing clamp 71 is connected with a third main joint 72 and a fourth main joint 73 in sequence, a target ball bracket 8 is fixedly mounted at the end of the opening and closing clamp 71, the target ball bracket 8 is axially sleeved and fixed on the opening and closing clamp 71, and the target ball bracket 8 is sequentially provided with a first target ball 1, a second target ball 2, and a third target ball 3. The center of the first target ball 1 is a first target measuring point 10, the center of the second target ball 2 is a second target measuring point 20, and the center of the third target ball 3 is a third target measuring point 30. The first target measuring point 10, the second target measuring point 20, and the third target measuring point 30 are located on the same circumference with the reference point MP of the manual controller 7 as the center, and the line connecting the first target measuring point 10 and the third target measuring point 30 passes through the reference point MP of the manual controller 7; Figure 7-8 As shown, an end effector 9 is provided at the end of the fourth robot arm 240. In an exemplary example, the end effector 9 is a surgical forceps. The end effector 9 is provided with a movable axis 91. The movable axis 91 is used to connect the jaws. A reference point SP of the end effector 9 is provided corresponding to the movable axis 91. A plurality of target measuring points are provided with the end effector 9 as a reference. In an example, a target ball tooling is fixedly provided at a position corresponding to the movable axis 91 of the surgical forceps. The target ball tooling is provided with three target balls, namely, a fourth target ball 4, a fifth target ball 5, and a sixth target ball 6, in sequence. The center of the fourth target ball 4 is the fourth target measuring point 40, the center of the fifth target ball 5 is the fifth target measuring point 50, and the center of the sixth target ball 6 is the sixth target measuring point 60. The fourth target measuring point 40, the fifth target measuring point 50, and the sixth target measuring point 60 are located on the same circumference with the reference point SP of the end effector 9 as the center. The line connecting the fourth target measuring point 40 and the sixth target measuring point 60 passes through the reference point SP of the end effector 9.

[0052] S2, obtaining three-dimensional coordinates, including: controlling the manual controller 7 to move along the test route, obtaining the three-dimensional coordinates of the first target measuring point 10, the second target measuring point 20, and the third target measuring point 30 at the starting point and the end point of the test route based on the first measurement coordinate system, and obtaining the three-dimensional coordinates of the fourth target measuring point 40, the fifth target measuring point 50, and the sixth target measuring point 60 at the starting point and the end point of the test route based on the second measurement coordinate system;

[0053] S3, describing the operation errors of the manual controller 7 and the end effector 9 based on the partial three-dimensional coordinates obtained in S2.

[0054] In one embodiment, a method for testing the operation error between a robot master hand and a slave hand is provided. After the doctor's console 100 and the patient's surgical platform 200 are connected for communication, the zero position and DH parameter calibration of the patient's surgical platform 200 is performed.

[0055] Run the program to control the manual controller 7 to move along the test route AG. Preferably, control the manual controller 7 to move along the test route AG 10 times. When the manual controller 7 moves to point A according to the running program, obtain the three-dimensional coordinates of the first target measuring point 10 and the third target measuring point 30 in the first measurement coordinate system, and obtain the three-dimensional coordinates of the fourth target measuring point 40 and the sixth target measuring point 60 in the second measurement coordinate system; when the manual controller 7 moves to point G, obtain the three-dimensional coordinates of the first target measuring point 10 and the third target measuring point 30 in the first measurement coordinate system, and obtain the three-dimensional coordinates of the fourth target measuring point 40 and the sixth target measuring point 60 in the second measurement coordinate system. The three-dimensional coordinates of the first target measuring point 10 and the sixth target measuring point 60 in the second measurement coordinate system; the reference point MP of the manual controller 7 is the midpoint of the line connecting the first target measuring point 10 and the third target measuring point 30, and the three-dimensional coordinates of the reference point MP of the manual controller 7 are determined by the three-dimensional coordinates of the first target measuring point 10 and the third target measuring point 30; the reference point SP of the end effector 9 is the midpoint of the line connecting the fourth target measuring point 40 and the sixth target measuring point 60, and the three-dimensional coordinates of the reference point SP of the end effector 9 can be determined by the three-dimensional coordinates of the fourth target measuring point 40 and the sixth target measuring point 60.

[0056] In one embodiment, the operation error of the manual controller 7 and the end effector 9 is described as the master hand and slave hand operation distance accuracy: , calculated as follows:

[0057]

[0058] in:

[0059]

[0060]

[0061]

[0062]

[0063] Where:

[0064] The number of repetitions of the movement along the test route for the manual controller;

[0065] For the Secondary measurement;

[0066] is the movement distance of the manual controller reference point MP;

[0067] is the movement distance of the end effector reference point SP;

[0068] The master-slave distance scaling constant;

[0069] is the three-dimensional coordinate of the manual controller reference point SP in the first measurement coordinate system when the manual controller moves to point A on the test route, , , for Component coordinates;

[0070] is the three-dimensional coordinate of the manual controller reference point SP in the first measurement coordinate system when the manual controller moves to point G on the test route, , , for Component coordinates of ;

[0071] is the three-dimensional coordinate of the end effector reference point SP in the second measurement coordinate system when the manual controller moves to point A on the test route, , , for Component coordinates of ;

[0072] is the three-dimensional coordinate of the end effector reference point SP in the second measurement coordinate system when the manual controller moves to point G on the test route, , , for The component coordinates of .

[0073] In one embodiment, the operation errors of the manual controller 7 and the end effector 9 are described as the distance accuracy of the master-slave operation components, that is, the error description of each coordinate axis component in the three-dimensional coordinate system when the master-slave moves along the test route, as follows:

[0074] The distance accuracy of the master hand and slave hand operation components along the x-axis is:

[0075]

[0076] The distance accuracy of the master hand and slave hand operation components along the y-axis component is:

[0077]

[0078] The distance accuracy of the master hand and slave hand operation components along the z-axis component is:

[0079]

[0080] Where:

[0081]

[0082]

[0083]

[0084]

[0085]

[0086]

[0087] Where:

[0088] , , is the movement distance of the manual controller reference point MP along the first measurement coordinate system , , Directional component;

[0089] , , is the movement distance of the end effector reference point SP along the second measurement coordinate system , 1. Direction component.

[0090] In one embodiment, the operation errors of the manual controller 7 and the end effector 9 are described as the operation accuracy of the master hand and the slave hand: , calculated as follows:

[0091]

[0092] The accuracy of the master-hand and slave-hand operation components is described as follows:

[0093]

[0094]

[0095] In one embodiment, the operation error of the manual controller 7 and the end effector 9 is described as the repeatability of the operation distance of the master hand and the slave hand. , calculated as follows:

[0096]

[0097]

[0098] Where:

[0099] is the difference between the moving distances of the manual controller and the end effector;

[0100] for The standard deviation of

[0101] According to the above steps, the BH, CE, and DF test routes are tested, and the absolute value of the worst group of multiple groups of data is taken as the final result. The operation errors of the manual controller 7 and the end effector 9 are described as , , , , , , , , One or a combination of the following.

[0102] In one embodiment, a method for testing the operation errors between a robot master hand and a slave hand is provided. After a first measurement coordinate system {Om-xyz} based on the master hand control arm and a second measurement coordinate system {Os-xyz} based on the slave hand robot arm are established, the third main joint and the fourth main joint of the manual controller 7 are adjusted to generate different postures of a test space model, and the posture axis angle between any vertices of the test space model is greater than 15°. In the adjusted test space model, a program is run to control the manual controller 7 to perform motion tests according to test routes AG, BH, CE, and DF. Taking the test route AG as an example, the manual controller 7 is controlled to move 10 times according to the test route AG. When the manual controller 7 moves to point A according to the running program, the three-dimensional coordinates of the first target measuring point 10, the second target measuring point 20, and the third target measuring point 30 in the first measurement coordinate system are obtained, and the three-dimensional coordinates of the fourth target measuring point 40, the fifth target measuring point 50, and the sixth target measuring point 60 in the second measurement coordinate system are obtained; when the manual controller 7 moves to point G according to the running program, the three-dimensional coordinates of the first target measuring point 10, the second target measuring point 20, and the third target measuring point 30 in the first measurement coordinate system are obtained, and the three-dimensional coordinates of the fourth target measuring point 40, the fifth target measuring point 50, and the sixth target measuring point 60 in the second measurement coordinate system are obtained.

[0103] Based on the acquired three-dimensional coordinates of the first target measuring point 10, the second target measuring point 20, the third target measuring point 30, the fourth target measuring point 40, the fifth target measuring point 50, and the sixth target measuring point 60, calculations are performed to describe the operation errors of the manual controller 7 and the end effector 9 as the operation posture accuracy of the master hand and the slave hand. ,

[0104]

[0105] in:

[0106]

[0107]

[0108] (31)

[0109] Where:

[0110] n is the number of times the manual controller repeats the movement along the test route;

[0111] i is the i-th measurement;

[0112] A posture description matrix for the first measurement coordinate system in the first base coordinate system;

[0113] A posture description matrix in a second base coordinate system is set for the second measurement coordinate system at the slave end;

[0114] for and relative posture;

[0115] for The corresponding axis angle.

[0116] In one embodiment, the operation error of the manual controller 7 and the end effector 9 is described as the repeatability of the operation posture of the master hand and the slave hand. , calculated as follows:

[0117]

[0118] Where:

[0119] for The standard deviation of .

[0120] After completing the test routes AG, BH, CE, and DF, the worst of the multiple sets of data is taken as the final result. The operation errors of the manual controller 7 and the end effector 9 are described as the master-slave operation posture accuracy. , Posture Repeatability One or more combinations of .

[0121] The method for testing the operation errors of the robot master hand and the slave hand provided by the present invention controls the master hand controller to move along the test route by establishing a first measurement coordinate system based on the master hand control arm and a second measurement coordinate system based on the slave hand mechanical arm, and sets multiple target points on the manual controller and the end effector to obtain the coordinate data of the target points, thereby being able to calculate and accurately describe the operation errors of the manual controller and the end effector, accurately complete the test and description of the operation errors of the robot master hand and the slave hand, and is conducive to accurately evaluating the consistency of the movements of the master hand and the slave hand, and providing verification data for improving and enhancing the consistency of the movements of the master hand and the slave hand.

[0122] Those skilled in the art will appreciate that the above-mentioned embodiments are specific examples for implementing the present invention, and in actual applications, various changes may be made thereto in form and detail without departing from the spirit and scope of the present invention.

Claims

1. A method for testing the operation error between a robot master hand and a slave hand, characterized in that: The following steps are involved: S1, establish the coordinate system, target point, preset test space model, preset test route, including: Establishing a first measurement coordinate system {Om-xyz} based on the master hand control arm; Establishing a second measurement coordinate system {Os-xyz} based on the slave manipulator; A manual controller (7) is provided at the free end of the master hand control arm, a test space model is preset based on the activity space range of the manual controller (7), and a test route is preset in the test space model; The free end of the manual controller (7) is provided with an opening and closing clamp (71), and the target points include a first target measuring point (10), a second target measuring point (20), and a third target measuring point (30) which are sequentially spaced along the circumference of the opening and closing clamp (71); the free end of the slave hand is provided with an end effector (9), and the target points include a fourth target measuring point (40), a fifth target measuring point (50), and a sixth target measuring point (60) which are sequentially spaced along the circumference of the end effector (9); S2, obtain three-dimensional coordinates, including: Controlling the manual controller (7) to move along the test route, obtaining the three-dimensional coordinates of the first target measuring point (10), the second target measuring point (20), and the third target measuring point (30) at the starting point and the end point of the test route based on the first measurement coordinate system, and obtaining the three-dimensional coordinates of the fourth target measuring point (40), the fifth target measuring point (50), and the sixth target measuring point (60) at the starting point and the end point of the test route based on the second measurement coordinate system; S3, describing the operation errors of the manual controller (7) and the end effector (9) based on the partial three-dimensional coordinates obtained in S2; Specifically, by establishing a first measurement coordinate system based on the master hand control arm and a second measurement coordinate system based on the slave hand mechanical arm, and by setting a plurality of target points on the manual controller (7) and the end effector (9), the master hand controller is controlled to move along a test route, the coordinate data of the target points are acquired, and then the operation errors of the manual controller (7) and the end effector (9) are calculated and described, thereby completing the test and description of the operation errors of the robot master hand and the slave hand.

2. The robot master hand and slave hand operation error testing method according to claim 1, characterized in that: In the S1, a first measurement coordinate system {Om-xyz} based on the master hand control arm is established, including establishing a first base coordinate system {O'm-xyz} based on the motion trajectories of the first main joint (121) and the second main joint (122) of the master hand control arm, wherein the origin O' is the intersection of the common perpendicular line of the rotation axis of the first main joint (121) and the rotation axis of the second main joint (122), the Z' axis is the rotation axis of the first main joint (121), and the upward direction is positive, the X' axis is the common perpendicular line of the rotation axis of the first main joint (121) and the rotation axis of the second main joint (122), and the direction pointing to the free end of the control arm is positive, and the Y' axis of the first base coordinate system {O'm-xyz} is used as the rotation axis, and is rotated 230 degrees in the positive direction according to the right-hand rule to obtain the first measurement coordinate system {Om-xyz}.

3. The robot master hand and slave hand operation error testing method according to claim 1, characterized in that: In the S1, a second measurement coordinate system {Os-xyz} based on the slave manipulator is established, including establishing a second base coordinate system {O's-xyz} based on the motion trajectories of the sixth slave joint (206), the seventh slave joint (207), and the eighth slave joint (208) of the slave manipulator, wherein the origin O1' is the midpoint of the common perpendicular line between the rotation axis of the sixth slave joint (206) and the rotation axis of the seventh slave joint (207), the Z1' axis is the movement trajectory of the eighth slave joint (208), and the direction pointing to the base (140) is positive, the Y1' axis is the rotation axis of the seventh slave joint (207), and the direction pointing to the fourth manipulator 240 is positive, and the second base coordinate system {O's-xyz} Y1' axis is used as the rotation axis, and is rotated by -30° according to the right-hand rule to obtain the second measurement coordinate system {Os-xyz}.

4. The robot master hand and slave hand operation error testing method according to claim 1, characterized in that: The test space model of S1 does not exceed the limit activity space range of the manual controller (7), the test space model is a rectangular parallelepiped, the eight vertices of the rectangular parallelepiped are A, B, C, D, E, F, G, and H, respectively, and the test route is the four spatial diagonals of the rectangular parallelepiped test space model, namely AG, BH, CE, and DF.

5. The robot master hand and slave hand operation error testing method according to claim 4, characterized in that: The manual controller (7) is provided with a manual controller (7) reference point MP, the first target measurement point (10), the second target measurement point (20) and the third target measurement point (30) are located on the same circumference with the manual controller (7) reference point MP as the center, the line connecting the first target measurement point (10) and the third target measurement point (30) passes through the manual controller (7) reference point MP, and the manual controller (7) reference point MP is the midpoint of the line connecting the first target measurement point (10) and the third target measurement point (30).

6. The robot master hand and slave hand operation error testing method according to claim 5, characterized in that: The end effector (9) is provided with an end effector (9) reference point SP, the fourth target measuring point (40), the fifth target measuring point (50) and the sixth target measuring point (60) are located on the same circumference with the end effector (9) reference point SP as the center, the line connecting the fourth target measuring point (40) and the sixth target measuring point (60) passes through the end effector (9) reference point SP, and the end effector (9) reference point SP is the midpoint of the line connecting the fourth target measuring point (40) and the sixth target measuring point (60).

7. The method for testing the operation error between the robot master hand and the slave hand according to claim 6, characterized in that: The three-dimensional coordinates of the reference point MP of the manual controller (7) and the three-dimensional coordinates of the reference point SP of the end effector (9) are obtained, and the operation errors of the manual controller (7) and the end effector (9) are described, including the accuracy of the operation distance between the master hand and the slave hand. , ,in, , , ， ， in, The number of times the manual controller (7) repeats the movement along the test route; For the Secondary measurement; is the movement distance of the reference point MP of the manual controller (7); is the movement distance of the reference point SP of the end effector (9); The master-slave distance scaling constant; is the three-dimensional coordinate of the reference point SP of the manual controller (7) in the first measurement coordinate system when the manual controller (7) moves to point A on the test route, , , for Component coordinates; is the three-dimensional coordinate of the reference point SP of the manual controller (7) in the first measurement coordinate system when the manual controller (7) moves to the point G on the test route, , , for Component coordinates of ; is the three-dimensional coordinate of the reference point SP of the end effector (9) in the second measurement coordinate system when the manual controller (7) moves to the point A of the test route, , , for Component coordinates of ; is the three-dimensional coordinate of the reference point SP of the end effector (9) in the second measurement coordinate system when the manual controller (7) moves to the point G of the test route, , , for The component coordinates of .

8. The method for testing the operation error between the robot master hand and the slave hand according to claim 7, characterized in that: Obtain the three-dimensional coordinates of the reference point of the manual controller (7) and the three-dimensional coordinates of the reference point of the end effector (9), and describe the operation errors of the manual controller (7) and the end effector (9), including the distance accuracy of the master hand and slave hand operation components. , ,in, , , , ， ， , , , is the movement distance of the reference point MP of the manual controller (7) along the first measurement coordinate system , , Directional component; , , is the movement distance of the reference point SP of the end effector (9) along the second measurement coordinate system , 1. Direction component.

9. The robot master hand and slave hand operation error testing method according to claim 7, characterized in that: The operation errors of the manual controller (7) and the end effector (9) are described, including the operation accuracy of the master hand and the slave hand. , .

10. The robot master hand and slave hand operation error testing method according to claim 8, characterized in that: The operation errors of the manual controller (7) and the end effector (9) are described, including the accuracy of the master hand and slave hand operation components. , , , , , .

11. The method for testing the operation error between the robot master hand and the slave hand according to claim 7, characterized in that: The operating errors of the manual controller (7) and the end effector (9) are described, including the repeatability of the operating distance between the master hand and the slave hand. , , , in, is the difference in movement distance between the manual controller (7) and the end effector (9), for The standard deviation of .

12. The robot master hand and slave hand operation error testing method according to claim 1, characterized in that: The method further comprises adjusting the third main joint (72) and the fourth main joint (73) of the manual controller (7) to generate different postures of the test space model, wherein the posture axis angle between any vertices of the test space model is greater than 15°, controlling the manual controller (7) to move along a test route in the test space model, obtaining the three-dimensional coordinates of the first target measuring point (10), the second target measuring point (20), and the third target measuring point (30) at the starting point and the end point of the test route based on the first measurement coordinate system, and obtaining the three-dimensional coordinates of the fourth target measuring point (40), the fifth target measuring point (50), and the sixth target measuring point (60) at the starting point and the end point of the test route based on the second measurement coordinate system.

13. The method for testing the operation error between the robot master hand and the slave hand according to claim 12, characterized in that: Based on the acquired three-dimensional coordinates of the first target measurement point (10), the second target measurement point (20), the third target measurement point (30), the fourth target measurement point (40), the fifth target measurement point (50), and the sixth target measurement point (60), the operation errors of the manual controller (7) and the end effector (9) are described, including the operation posture accuracy of the master hand and the slave hand. , ,in , , , n is the number of times the manual controller (7) repeats the movement along the test route, i is the ith measurement, is the posture description matrix of the first measurement coordinate system in the first base coordinate system, Set the attitude description matrix of the second base coordinate system for the second measurement coordinate system at the slave end, for and The relative attitude of for The corresponding axis angle.

14. The robot master hand and slave hand operation error testing method according to claim 13, characterized in that: Based on the acquired three-dimensional coordinates of the first target measurement point (10), the second target measurement point (20), the third target measurement point (30), the fourth target measurement point (40), the fifth target measurement point (50), and the sixth target measurement point (60), the operation errors of the manual controller (7) and the end effector (9) are described, including the repeatability of the operation postures of the master hand and the slave hand. , ,in, for The standard deviation of .

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