Enhanced zero network guided robot perforation cross-layer motion control system and method
Through the enhanced zero-network guidance control method, the problems of poor stability of the movement center and lag in the cross-layer motion of the robot are solved, and more stable and efficient motion control is achieved.
Patent Information
- Application Number
- CN202510264038.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-03-06
- Publication Date
- 2025-04-18
AI Technical Summary
The existing robots have poor stability in the movement center and lag in control time during perforation across the layer.
The robot perforated cross-layer motion control method guided by enhanced zero-network is adopted to establish a constraint relationship between the center point of the robot arm and the tool position, and a zero-control network is constructed to realize the trajectory control of the fixed position of the center of the movement.
Improve the stability and robustness of motion control, ensure effective completion of trajectory tracking tasks within the physical limitations of remote motion centers, reduce lag errors, and speed up control convergence efficiency.
Smart Images
Figure CN119839869A_ABST
Abstract
Description
Technical Field
[0001] The present invention belongs to the field of artificial intelligence technology, and in particular relates to an enhanced zeroing network guided robot perforation cross-layer motion control system and method. Background Art
[0002] In robot-assisted micro-perforation operations, the operating instrument is usually inserted through a small incision in the surface layer of the object to be perforated, and this incision becomes the remote motion center. In robot-assisted micro-perforation operations, it is challenging to achieve a motion control process that follows the remote motion center constraint due to the nonlinear characteristics of the robot motion model and the high accuracy requirements for patient safety.
[0003] The traditional method of implementing robot punching cross-layer motion operation often leaves a large operating and working space. Due to the limitation of the remote motion center, it takes a long time to obtain the joint control configuration under the minimum aperture constraint from the external workspace. The traditional robot punching motion method has the following defects: A. The remote motion center is a virtual fixed point, requiring the operation of the robot's cross-layer perforation instrument to be performed around this point to minimize the interference with the physical surroundings of the perforation and ensure the safety and accuracy of the perforation process. This constraint causes the robot system to lose two degrees of freedom, making the control of the surgical robot extremely complex.
[0004] B. Design a parallel mechanism at the level of perforated cross-layer motion machinery to realize remote motion center constraint. This method is costly and complex in structure, and the position of the constraint point relative to the operating arm is fixed, which cannot achieve flexible constraint operation.
[0005] C. The traditional augmented Jacobian matrix basis pseudo-inverse method is used to plan the movements of the joints of the remote motion center, usually without considering the constraints of the joints themselves, which poses a hidden danger to the safety of the system.
[0006] The fundamental reason for the above defects is that the traditional perforated cross-layer motion operation algorithm samples the global area and does not establish constraint indicators for its remote motion center and joint space at the same time. The related serial calculation method proposes to follow the gradient descent direction by designing a non-negative energy function, and the lag residual error cannot be ignored. In addition, the physical limits of the joint control position and speed cannot be broken, so it is necessary to further ensure the safety of the robot's operation in the remote motion center and the safety of the shutdown limit. Summary of the invention
[0007] In order to solve the problems of poor stability of the motion center and control time lag during the existing robot's perforation and cross-layer motion, the present invention provides an enhanced zeroing network-guided robot perforation and cross-layer motion control system and method.
[0008] In order to solve the technical problem, the technical solution adopted by the present invention is: An enhanced zeroing network guided robot perforation cross-layer motion control method, characterized by comprising: (1) Motion design of the tool end under the robot arm punching with a fixed motion center position; (2) Design of zeroing control network for tools on a robot arm with a fixed motion center; (3) Based on the motion design of step (1) and the zeroing control network of step (2), the perforation process is controlled.
[0009] In some embodiments, the motion design of the tool end under the mechanical arm punching with the motion center position fixed specifically includes: (1.1) Establish the position constraint relationship between the robot arm motion center point and the tool (also often called the end of operation): ; in, >0 is the proportional coefficient of the center point of the punching movement, which is used to adjust exist and The position between represents the end position of the tool, It represents the end position of the robot arm; In the specific implementation process, 0<μ<1, otherwise this point cannot be found between the end of the tool and the end of the robot arm.
[0010] (1.2) Construct the trajectory control equation of the tool end on the unloaded robot arm with a fixed center of motion: ; (1) in, , ; is the Jacobian matrix corresponding to the contact point between the robot arm and the tool, is the Jacobian matrix at the end of the tool, is the joint angle of the robot arm.
[0011] (1.3) Based on the condition that the loading motion center position is fixed in formula (1), the trajectory control equation of the tool end on the robot arm with the loading motion center position fixed process convergence is constructed: . (2) In some embodiments, the design of the zeroing control network for a tool on a robot arm with a fixed motion center position specifically includes: constructing a zeroing network solution equation for the end trajectory control equation of the tool on the robot arm with a fixed motion center position process convergence, specifically as follows: (2.1) Define the following error function: ; (2.2) The derivative control relationship of the error function with respect to time is constructed as: ; (I) Second, let the derivative structure converge as follows: ; (II) (2.3) Combining formulas (I) and (II) we get the following zeroing control network: (1 / ).
[0012] In some embodiments, the control of the perforation process based on the motion design of step (1) and the zeroing control network of step (2) includes: (3.1) Initialization To 0, set Between 0 and 1, start the motors of each joint on the robot arm; (3.2) Settings is a straight line trajectory, which is perpendicular to the tangent plane where the motion control center point is located. Let the robot arm and tool pass through the motion center point, so that Gradually reduce the joint speed on the robot arm ; (3.3) Reinitialization The value is recorded in real time and ,initialization A value between 0 and 1, calculating And update Calculate the cumulative error , bring in (1 / ); (3.4) Update the real-time The value of Substitute the value of into the formula ; Update formula middle The value of is used to realize the end trajectory control of the tool based on the fixed position of the motion center; detection Whether it finally converges to 0 and detection Whether it finally converges to a fixed length range, if not, repeat steps (3.3) and (3.4) until the two converge (i.e. Finally, it converges to 0 asymptotically. converges to between 0 and 1).
[0013] In the specific implementation process, is a small value, Between 0.001 and 0.01. Therefore, in step (3.3), reinitialize The value of is: will be initialized to between 0.0001-0.01.
[0014] The present invention also provides an enhanced zeroing network guided robot perforation cross-layer motion control system, comprising: A motion design module, used to provide a motion trajectory for the end-of-tool motion under the perforation of a robot arm with a fixed motion center position; A zeroing control network module is used to provide a zeroing control network for the movement of a tool on a robotic arm with a fixed center of motion; The punching operation control module is used to provide control over the end motion of the tool on the robot arm based on the motion design module and the zeroing control network module.
[0015] In some embodiments, the perforation operation control module controls the end movement of the tool on the mechanical arm with a fixed movement center position to specifically perform the following steps: (3.1) Initialization To 0, set Between 0 and 1, start the motors of each joint on the robot arm; (3.2) Settings is a straight line trajectory, which is perpendicular to the tangent plane where the motion control center point is located. Let the robot arm and tool pass through the motion center point, so that Gradually reduce the joint speed on the robot arm ; (3.3) Reinitialization The value is recorded in real time and ,initialization A value between 0 and 1, calculating And update Calculate the cumulative error , bring in (1 / ); (3.4) Update the real-time The value of Substitute the value of into the formula ; Update formula middle The value of is used to realize the end trajectory control of the tool based on the fixed position of the motion center; detection Whether it finally converges to 0 and detection Whether it finally converges to a fixed length range, if not, repeat steps (3.3) and (3.4) until the two converge (i.e. Finally, it converges to 0 asymptotically. converges to between 0 and 1).
[0016] In some embodiments, the equation of the zeroing control network included in the zeroing control network module is: (1 / ).
[0017] In some embodiments, the motion design module includes the tool end trajectory control equation for a robot punching with a fixed motion center position: .
[0018] Compared with the prior art, the present invention has the following beneficial effects: The enhanced zeroing network guided robot perforation cross-layer motion control system and method of the present invention makes the perforation robot operation control constrained by the motion center have better stability and robustness of motion control through the zeroing control network, thereby ensuring that it meets the physical restrictions of the remote motion center. The zeroing control network has good convergence ability and can ensure that the perforation robot effectively completes the trajectory tracking task. Its motion planner includes a dynamic adjustment factor (μ), which can effectively realize the stability of the motion center at a fixed position and the motion control of the tool at the end at the same time.
[0019] The control method of the present invention takes into account the time derivative information and effectively reduces the hysteresis error. In addition, in order to solve the dynamic problems including the nonlinear equations involved in the perforation cross-layer operation, the present invention can accelerate the control convergence efficiency by zeroing the control network.
[0020] Aiming at the cross-layer punching operation of the robot with motion center constraint, the present invention establishes an enhanced zeroing control network and integrates it into a new paradigm including joint positions, joint constraints and tracking errors, so that the motion of the end tool can be well controlled. BRIEF DESCRIPTION OF THE DRAWINGS
[0021] Figure 1 The figure is a schematic diagram of the state of an embodiment of a robot (including a robot arm and a tool) when performing cross-layer punching movement. DETAILED DESCRIPTION
[0022] The present invention is further described below in conjunction with embodiments, which are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, other embodiments obtained by ordinary technicians in the field without creative work are all within the scope of protection of the present invention.
[0023] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention; the terms "first", "second", and "third" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance; in addition, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected or indirectly connected through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.
[0024] In conjunction with the accompanying drawings, the enhanced zeroing network guided robot perforation cross-layer motion control method of the present invention includes: (1) Motion design of the tool end under the robot arm punching with a fixed motion center position; In the cross-layer perforation operation, the robot arm is used to support and stabilize the tool, while the tool performs the operation of inserting the hole. During the perforation operation of the tool at the end of the robot arm, the tool needs to enter the object through the initial insertion point Xc. It is a position point from the end of the tool to the end of the robot arm. The robot arm is connected to The overlapping point is called the center of motion (or the center of motion position). At Xc, the axis of the robot can slide along the axial direction and rotate around the center of motion, but cannot move laterally. In the actual perforation operation, Xc is a fixed point that cannot move over time. Therefore, the goal of the center of motion constraint is to calculate the following equation when performing trajectory tracking tasks: Xc- = 0. Therefore, the following position constraint relationship between the motion center point of the robot arm and the tool (also often called the end of the operation) is established: ; Among them, μ>0 is the proportional coefficient of the center point of the punching motion, which is used to adjust exist and The position between represents the end position of the tool, It represents the end position of the robot arm; In the specific implementation process, 0<μ<1, otherwise this point cannot be found between the end of the tool and the end of the robot arm.
[0025] Construct the trajectory control equations for the tool end on a robot arm with an unloaded motion center fixed: ; (1) in, , ; The Jacobian matrix corresponding to the contact point between the robot arm and the tool, is the Jacobian matrix at the end of the tool, is the joint angle of the robot arm.
[0026] Based on the condition of the fixed position of the loading motion center in formula (1), the trajectory control equation of the tool end on the robot arm with the convergence of the loading motion center position fixing process is constructed: ; (2) That is to say, the present invention constructs the end trajectory control equations of the tools on the two robotic arms. Formula (1) is the end trajectory control equation of the tool on the unloaded robotic arm with a fixed motion center position, and formula (2) is the end trajectory control equation of the tool on the loaded robotic arm with a fixed motion center position and a convergence process.
[0027] (2) Design of zeroing control network for tools on a robot arm with a fixed motion center; Construct the zeroing network solution equation of the end trajectory control equation of the tool on the robot arm loaded with the fixed process convergence of the motion center position: First, define the following error function: ; Then, the derivative control relationship of the error function with respect to time is constructed as follows: ; (I) Second, let the derivative structure converge as follows: ; (II) Finally, the following zeroing control network is obtained by combining formulas (I) and (II): (1 / ).
[0028] (3) Perforation process control: (3.1) Initialization To 0, set Between 0 and 1, start the motors of each joint on the robot arm; (3.2) Settings is a straight line trajectory, which is perpendicular to the tangent plane where the motion control center point is located. Let the robot arm and tool pass through the motion center point, so that Gradually reduce the joint speed on the robot arm ; (3.3) Reinitialization The value is recorded in real time and ,initialization A value between 0 and 1, calculating And update Calculate the cumulative error , bring in (1 / ); (3.4) Update the real-time The value of Substitute the value of into the formula ; Update formula middle The value of is used to realize the end trajectory control of the tool based on the fixed position of the motion center; detection Whether it finally converges to 0 and detection Whether it finally converges to a fixed length range, if not, repeat steps (3.3) and (3.4) until the two converge (i.e. Finally, it converges to 0 asymptotically. converges to between 0 and 1).
[0029] In the specific implementation process, is a small value, Between 0.001 and 0.01. Therefore, in step (3.3), reinitialize The value of is: Initialized to between 0.0001-0.01.
[0030] The present invention also provides an enhanced zeroing network guided robot perforation cross-layer motion control system, comprising: A motion design module, used to provide a motion trajectory for the end-of-tool motion under the perforation of a robot arm with a fixed motion center position; A zeroing control network module is used to provide a zeroing control network for the movement of a tool on a robotic arm with a fixed center of motion; The punching operation control module is used to provide control over the end motion of the tool on the robot arm based on the motion design module and the zeroing control network module.
[0031] In some embodiments, the perforation operation control module controls the end movement of the tool on the mechanical arm with a fixed movement center position to specifically perform the following steps: (3.1) Initialization To 0, set Between 0 and 1, start the motors of each joint on the robot arm; (3.2) Settings is a straight line trajectory, which is perpendicular to the tangent plane where the motion control center point is located. Let the robot arm and tool pass through the motion center point, so that Gradually reduce the joint speed on the robot arm ; (3.3) Reinitialization The value is recorded in real time and ,initialization A value between 0 and 1, calculating And update Calculate the cumulative error , bring in (1 / ); (3.4) Update the real-time The value of Substitute the value of into the formula ; Update formula middle The value of is used to realize the end trajectory control of the tool based on the fixed position of the motion center; detection Whether it finally converges to 0 and detection Does it finally converge to a fixed length range? If not, repeat steps (3.3) and (3.4) until both converge (i.e., it finally converges asymptotically to 0 and converges to between 0 and 1).
[0032] In some embodiments, the zeroing control network included in the zeroing control network module is: (1 / ).
[0033] In some embodiments, the motion design module includes the tool end trajectory control equation for a robot punching with a fixed motion center position: .
[0034] The enhanced zeroing network guided robot perforation cross-layer motion control system and method of the present invention makes the perforation robot operation control constrained by the motion center have better stability and robustness of motion control through the zeroing control network, thereby ensuring that it meets the physical restrictions of the remote motion center. The zeroing control network has good convergence ability and can ensure that the perforation robot effectively completes the trajectory tracking task. Its motion planner includes a dynamic adjustment factor (μ), which can effectively realize the stability of the motion center at a fixed position and the motion control of the tool at the end at the same time.
[0035] The control method of the present invention takes into account the time derivative information and effectively reduces the hysteresis error. In addition, in order to solve the dynamic problems including the nonlinear equations involved in the perforation cross-layer operation, the present invention can accelerate the control convergence efficiency by zeroing the control network.
[0036] Aiming at the cross-layer punching operation of the robot with motion center constraint, the present invention establishes an enhanced zeroing control network and integrates it into a new paradigm including joint positions, joint constraints and tracking errors, so that the motion of the end tool can be well controlled.
[0037] The present invention also provides an enhanced zeroing network guided robot perforation cross-layer motion control system, comprising: A motion design module, used to provide a motion trajectory for the end-of-tool motion under the perforation of a robot arm with a fixed motion center position; A zeroing control network module is used to provide a zeroing control network for the movement of a tool on a robotic arm with a fixed center of motion; The punching operation control module is used to provide control over the end motion of the tool on the robot arm based on the motion design module and the zeroing control network module.
[0038] In some embodiments, the perforation operation control module controls the end movement of the tool on the mechanical arm with a fixed movement center position to specifically perform the following steps: (3.1) Initialization is 0, set μ between 0 and 1, and start the motors of each joint on the robot arm; (3.2) Settings is a straight line trajectory, which is perpendicular to the tangent plane where the motion control center point is located. Let the robot arm and tool pass through the motion center point, so that Gradually reduce the joint speed on the robot arm ; (3.3) Reinitialization The value is recorded in real time and ,initialization A value between 0 and 1, calculating And update Calculate the cumulative error , bring in (1 / ).
[0039] (3.4) Update the real-time The value of Substitute the value of into the formula ; Update formula middle The value of is used to realize the end trajectory control of the tool based on the fixed position of the motion center; detection Whether it finally converges to 0 and detection Whether it finally converges to a fixed length range, if not, repeat steps (3.3) and (3.4) until the two converge (i.e. Finally, it converges to 0 asymptotically. converges to between 0 and 1).
[0040] In some embodiments, the equation of the zeroing control network included in the zeroing control network module is: (1 / ).
[0041] In some embodiments, the motion design module includes the tool end trajectory control equation for a robot punching with a fixed motion center position: .
[0042] The above-mentioned embodiments only express the specific implementation methods of the present application, and the description is relatively specific and detailed, but it cannot be understood as limiting the protection scope of the present application. It should be pointed out that for ordinary technicians in this field, without departing from the technical solution concept of the present application, some modifications and improvements can be made, which all belong to the protection scope of the present application.
Claims
1. An enhanced zeroing network guided robot perforation cross-layer motion control method, characterized in that: include: (1) Motion design of the tool end under the robot arm punching with a fixed motion center position; (2) Design of zeroing control network for tools on a robot arm with a fixed motion center; (3) Based on the motion design of step (1) and the zeroing control network of step (2), the perforation process is controlled.
2. The enhanced zeroing network guided robot perforation cross-layer motion control method according to claim 1 is characterized in that: The motion design of the tool end under the mechanical arm punching with a fixed motion center position specifically includes: (1.1) Establish the position constraint relationship between the robot arm motion center point and the tool: ; in, >0 is the proportional coefficient of the center point of the punching movement, which is used to adjust exist and The position between represents the end position of the tool, It represents the end position of the robot arm; (1.2) Construct the trajectory control equation of the tool end on the unloaded robot arm with a fixed center of motion: （1）； in, , ; is the Jacobian matrix corresponding to the contact point between the robot arm and the tool, is the Jacobian matrix at the end of the tool, is the joint angle of the robot arm; (1.3) Based on the condition that the loading motion center position is fixed in formula (1), the trajectory control equation of the tool end on the robot arm with the loading motion center position fixed process convergence is constructed: （2） 。 3. The enhanced zeroing network guided robot perforation cross-layer motion control method according to claim 2 is characterized in that: The design of the zeroing control network for the tool on the manipulator with a fixed motion center position specifically includes: constructing a zeroing network solution equation for the end trajectory control equation of the tool on the manipulator with a fixed motion center position process convergence, which is specifically as follows: (2.1) Define the following error function: ; (2.2) The derivative control relationship of the error function with respect to time is constructed as: ； （Ⅰ） Second, let the derivative structure converge as follows: ； （Ⅱ） (2.3) Combining formulas (I) and (II) we get the following zeroing control network: (1 / )。 4. The enhanced zeroing network guided robot perforation cross-layer motion control method according to claim 3 is characterized in that: The control of the perforation process based on the motion design of step (1) and the zeroing control network of step (2) includes: (3.1) Initialization To 0, set Between 0 and 1, start the motors of each joint on the robot arm; (3.2) Settings is a straight line trajectory, which is perpendicular to the tangent plane where the motion control center point is located, so that the robot arm and the tool pass through the motion center point. Gradually reduce the joint speed on the robot arm ; (3.3) Reinitialization The value is recorded in real time and ,initialization A value between 0 and 1, calculating And update Calculate the cumulative error , bring in (1 / ); (3.4) Update the real-time The value of Substitute the value of into the formula ; Update formula middle The value of is used to realize the end trajectory control of the tool based on the fixed position of the motion center; detection Check whether μ finally converges to 0 and whether μ finally converges to a fixed length range. If not, repeat steps (3.3) and (3.4) until both converge (i.e. Finally, it converges to 0 asymptotically. converges between 0 and 1).
5. The enhanced zeroing network guided robot perforation cross-layer motion control method according to claim 4 is characterized in that: In step (3.3) The value is between 0.001-0.
01.
6. An enhanced zeroing network guided robot perforation cross-layer motion control system, characterized in that: include: A motion design module, used to provide a motion trajectory for the end-of-tool motion under the perforation of a robot arm with a fixed motion center position; A zeroing control network module is used to provide a zeroing control network for the movement of a tool on a robotic arm with a fixed center of motion; The punching operation control module is used to provide control over the end motion of the tool on the robot arm based on the motion design module and the zeroing control network module.
7. The enhanced zeroing network guided robot perforation cross-layer motion control system according to claim 6, characterized in that: The perforation operation control module controls the end movement of the tool on the mechanical arm with a fixed movement center position to specifically perform the following steps: (3.1) Initialization To 0, set Between 0 and 1, start the motors of each joint on the robot arm; (3.2) Settings is a straight line trajectory, which is perpendicular to the tangent plane where the motion control center point is located, so that the robot arm and the tool pass through the motion center point. Gradually reduce the joint speed on the robot arm ; (3.3) Reinitialization The value is recorded in real time and ,initialization A value between 0 and 1, calculating And update Calculate the cumulative error , bring in (1 / ); (3.4) Update the real-time The value of Substitute the value of into the formula ; Update formula middle The value of is used to realize the end trajectory control of the tool based on the fixed position of the motion center; detection Check whether μ finally converges to 0 and whether μ finally converges to a fixed length range. If not, repeat steps (3.3) and (3.4) until both converge (i.e. Finally, it converges asymptotically to 0, and μ converges to between 0 and 1).
8. The enhanced zeroing network guided robot perforation cross-layer motion control system according to claim 6, characterized in that: The equation of the zeroing control network contained in the zeroing control network module is: (1 / ).
9. The enhanced zeroing network guided robot perforation cross-layer motion control system according to claim 6, characterized in that: The motion design module includes the tool end trajectory control equation for the robot arm punching with a fixed motion center position: .