CN107688293B - 一种微创外科手术机器人的建模方法 - Google Patents
一种微创外科手术机器人的建模方法 Download PDFInfo
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
- G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance
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CN108983705B (zh) * | 2018-08-16 | 2020-01-07 | 居鹤华 | 一种基于轴不变量的多轴机器人***正运动学建模与解算方法 |
CN112828862B (zh) * | 2020-12-30 | 2022-09-16 | 诺创智能医疗科技(杭州)有限公司 | 并联平台的主从映射方法、机械臂***和存储介质 |
CN112716608B (zh) * | 2021-01-20 | 2022-06-24 | 山东威高手术机器人有限公司 | 用于微创手术机器人的主从跟踪控制方法 |
CN114002990B (zh) * | 2021-12-30 | 2022-04-08 | 之江实验室 | 并联双足机器人关节实时控制方法和装置 |
Citations (5)
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JPH08155647A (ja) * | 1994-11-29 | 1996-06-18 | Komatsu Ltd | 溶接ロボットのウィービング制御装置 |
CN106003034A (zh) * | 2016-06-16 | 2016-10-12 | 深圳先进技术研究院 | 一种主从式机器人控制***及控制方法 |
CN106041912A (zh) * | 2016-06-16 | 2016-10-26 | 深圳先进技术研究院 | 主从式蛇形机器人***及其位置控制方法 |
CN106137400A (zh) * | 2016-05-31 | 2016-11-23 | 微创(上海)医疗机器人有限公司 | 用于机械臂的控制***、控制方法及一种手术机器人 |
CN106980751A (zh) * | 2017-02-27 | 2017-07-25 | 浙江大学 | 一种含双c轴的六轴自动化制孔锪窝机床的运动学反解方法 |
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Patent Citations (5)
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JPH08155647A (ja) * | 1994-11-29 | 1996-06-18 | Komatsu Ltd | 溶接ロボットのウィービング制御装置 |
CN106137400A (zh) * | 2016-05-31 | 2016-11-23 | 微创(上海)医疗机器人有限公司 | 用于机械臂的控制***、控制方法及一种手术机器人 |
CN106003034A (zh) * | 2016-06-16 | 2016-10-12 | 深圳先进技术研究院 | 一种主从式机器人控制***及控制方法 |
CN106041912A (zh) * | 2016-06-16 | 2016-10-26 | 深圳先进技术研究院 | 主从式蛇形机器人***及其位置控制方法 |
CN106980751A (zh) * | 2017-02-27 | 2017-07-25 | 浙江大学 | 一种含双c轴的六轴自动化制孔锪窝机床的运动学反解方法 |
Non-Patent Citations (4)
Title |
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一般6R机器人的位置反解与运动仿真;于艳秋等;《中国机械工程》;20031231;第14卷(第24期);第2130-2133页 * |
基于牛顿迭代法消除机器人奇异点的研究;周克媛;《青岛职业技术学院学报》;20090615;第22卷(第2期);第65-66页 * |
基于简化形式的 Jacobian 矩阵的牛顿迭代法求解 6 自由度机器人逆解算法;何理等;《机床与液压》;20151115;第43卷(第21期);第107-112页 * |
基于腹腔微创手术机器人的主从控制技术研究;谢琦等;《机器人》;20110115;第33卷(第1期);第53-58页 * |
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Inventor after: Xiao Qiaomu Inventor after: Bai Long Inventor after: Yang Jianxing Inventor before: Xiao Qiaomu Inventor before: Bai Long Inventor before: Yang Jianxin Inventor after: Wang Liao Inventor after: Bai Long Inventor after: Zhang Zhiliang Inventor after: Xiao Qiaomu Inventor after: Yang Jianxing Inventor before: Xiao Qiaomu Inventor before: Bai Long Inventor before: Yang Jianxing |
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