CN116172715A - Active reverse driving control method and system for high-sensitivity surgical robot - Google Patents
Active reverse driving control method and system for high-sensitivity surgical robot Download PDFInfo
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- A61B34/30—Surgical robots
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- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
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Abstract
The invention discloses a high-sensitivity active reverse driving control method for a surgical robot, which belongs to the technical field of robot control and comprises the following steps: the mechanical arm is provided with a high-sensitivity moment sensor and a controller for calculating the compensation torque in real time, and the controller is used for realizing active high-sensitivity reverse driving control; the controller improves torque sensitivity by performing main torque compensation without changing the structure of the mechanical arm and the inherent weight and inertia of the mechanical arm; the method for improving torque sensitivity comprises the following steps: 1) Gravity compensation for overcoming the influence of gravity on the system; 2) Friction force compensation for reducing the influence of friction force on the system; 3) Inertial compensation for reducing the impact of inertia on the system. The invention provides a main-assistant reverse control method which is used for improving the reverse driving sensitivity, and the high-sensitivity active reverse driving control of a robot is realized through the processing scheme.
Description
Technical Field
The disclosure relates to the technical field of robot control, in particular to an active reverse driving control method and system for a high-sensitivity surgical robot.
Background
In the robot field, the reverse driving means that an operator can drag and operate a robot by applying an external force to the robot. The back drive can be used for controlling the maximum force of contact between a person and the robot, so that the safety of the system is effectively improved. In surgical robotic applications, back drive may be used to control the contact force of the robot with the tissue, which is important, but requires more precision and requires very little force to back drive the robot. This is often difficult to achieve, mainly due to the great dead weight and friction of the robot. At present, in order to achieve the aim of improving the reverse driving performance of the surgical robot, the structure of the mechanical arm is mainly changed, and the inherent weight and inertia of the mechanical arm are reduced by optimizing the structure and parts. The invention provides a main-cooperation reverse driving method, which does not need to change the structure of a mechanical arm and the inherent weight and inertia of the mechanical arm, but performs active moment compensation through a real-time high-performance controller, thereby improving the sensitivity of the reverse driving and having important application significance when the operation robot performs soft tissue operation.
Disclosure of Invention
In view of the above, embodiments of the present disclosure provide an active back drive control system for a high-sensitivity surgical robot, which at least partially solves the problems in the prior art.
In a first aspect, an embodiment of the present disclosure provides a method for controlling active reverse driving of a high-sensitivity surgical robot, including:
the mechanical arm is provided with a high-sensitivity moment sensor and a controller for calculating the compensation torque in real time, and the controller is used for realizing active high-sensitivity reverse driving control;
the controller improves torque sensitivity by performing main torque compensation without changing the structure of the mechanical arm and the inherent weight and inertia of the mechanical arm;
the method for improving torque sensitivity comprises the following steps: 1) Gravity compensation for overcoming the influence of gravity on the system; 2) Friction force compensation for reducing the influence of friction force on the system; 3) Inertial compensation for reducing the impact of inertia on the system.
According to a specific implementation of an embodiment of the disclosure, the method includes:
after acquiring kinetic parameters of a mechanical arm of a surgical robot, constructing a kinetic equation for a linear form of the mechanical arm;
performing data fitting on corresponding data of the optimal excitation track of the dynamic equation, so as to acquire a dynamic parameter theta of the mechanical arm, and reconstructing an inertia matrix M, a centripetal force matrix C and a gravity matrix G contained in the dynamic equation according to dh parameters of the mechanical arm after acquiring the parameter theta;
for the reconstructed kinetic equation, performing gravity compensation and inertia compensation operation to obtain the driving moment tau of the mechanical arm c ；
Based on the driving torque τ c And executing active reverse driving operation on the mechanical arm.
According to a specific implementation manner of the embodiment of the disclosure, the data fitting is performed after linearizing the kinetic equation of the mechanical arm, including:
aiming at the kinetic parameters of the mechanical arm, constructing a kinetic equation:
where q is the position of the robotic arm,
for the speed of the arm +.>
The mechanical arm acceleration sensor is characterized in that the mechanical arm acceleration sensor is an acceleration of a mechanical arm, M is an inertia matrix, C is a coriolis force-centripetal force matrix, G is a gravity matrix, Y is a dynamic linear coefficient matrix, θ is a dynamic parameter, τ is a joint moment, J is a Jacobian matrix of the mechanical arm, and F is an external force.
According to a specific implementation of an embodiment of the disclosure, the performing gravity compensation and inertia compensation operations for the reconstructed kinetic equation includes:
controlling the robot to output a driving torque tau equal to the gravitational torque c That is, the first and second substrates are,
G(q)＝τ c
at the same time change the kinetic equation into
According to a specific implementation of an embodiment of the disclosure, the performing the gravity compensation and the inertia compensation operations for the reconstructed kinetic equation further includes:
in the case of existing gravity compensation, the following formula is set:
according to a specific implementation of an embodiment of the disclosure, the performing the gravity compensation and the inertia compensation operations for the reconstructed kinetic equation further includes:
the control robot outputs a part of driving moment again, so that the effect of pushing the mechanical arm by the user is equivalent to pushing a small mass of m (q). And the contact force between the mechanical arm and the tissue is correspondingly smaller due to the low apparent inertia. The inertial compensation process is described by the following two equations:
thereby obtaining the inertia compensation moment tau comp The method comprises the following steps:
τ comp ＝(M(q)m(q) -1 -I n )J T F。
according to a specific implementation of an embodiment of the disclosure, the performing the gravity compensation and the inertia compensation operations for the reconstructed kinetic equation further includes:
external torque tau is estimated through current joint torque sensor reading and mechanical arm position parameter ext ：
Further, in the control of gravity compensation and inertia compensation, the driving torque τ c The method comprises the following steps:
τ c ＝G(q)+(M(q)m(q) -1 -I n )τ ext
in a second aspect, embodiments of the present disclosure provide a high sensitivity surgical robot active backdrive control system comprising:
the construction device is used for constructing a dynamics equation aiming at the linear form of the mechanical arm of the surgical robot after acquiring the dynamics parameters of the mechanical arm;
the fitting device is used for carrying out data fitting on corresponding data of the optimal excitation track of the dynamic equation so as to acquire the dynamic parameter theta of the mechanical arm, so that an inertia matrix M, a centripetal force matrix C and a gravity matrix G contained in the dynamic equation can be reconstructed according to dh parameters of the mechanical arm after the parameter theta is acquired;
the computing device is used for executing gravity compensation and inertia compensation operation aiming at the reconstructed kinetic equation to obtain the driving moment tau of the mechanical arm c ；
Actuator for based on said driving torque τ c And executing active reverse driving operation on the mechanical arm.
In a third aspect, the presently disclosed embodiments also provide a non-transitory computer readable storage medium storing computer instructions for causing the computer to execute the high sensitivity surgical robot active back drive control system of the first aspect or any implementation of the first aspect.
In a fourth aspect, the presently disclosed embodiments also provide a computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions which, when executed by a computer, cause the computer to perform the high sensitivity surgical robot active back drive control system of the first aspect or any implementation of the first aspect.
The active back driving control scheme of the high-sensitivity surgical robot in the embodiment of the disclosure comprises the following steps: the mechanical arm is provided with a high-sensitivity moment sensor and a controller for calculating the compensation torque in real time, and the controller is used for realizing active high-sensitivity reverse driving control; the controller improves torque sensitivity by performing main torque compensation without changing the structure of the mechanical arm and the inherent weight and inertia of the mechanical arm; the method for improving torque sensitivity comprises the following steps: 1) Gravity compensation for overcoming the influence of gravity on the system; 2) Friction force compensation for reducing the influence of friction force on the system; 3) Inertial compensation for reducing the impact of inertia on the system. The invention provides a main-assistant reverse control method which is used for improving the reverse driving sensitivity, and the high-sensitivity active reverse driving control of a robot is realized through the processing scheme.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present disclosure, and other drawings may be obtained according to these drawings without inventive effort to a person of ordinary skill in the art.
Fig. 1 is a block diagram of an active back drive control system for a high sensitivity surgical robot provided in an embodiment of the present disclosure;
FIG. 2 is a block diagram of an active back drive control system for a high sensitivity surgical robot provided in an embodiment of the present disclosure;
fig. 3 is a schematic flow chart of an active back drive control system of a high-sensitivity surgical robot according to an embodiment of the disclosure;
fig. 4 is a block diagram of another active back drive control system for a high sensitivity surgical robot provided in an embodiment of the present disclosure.
Detailed Description
Embodiments of the present disclosure are described in detail below with reference to the accompanying drawings.
Other advantages and effects of the present disclosure will become readily apparent to those skilled in the art from the following disclosure, which describes embodiments of the present disclosure by way of specific examples. It will be apparent that the described embodiments are merely some, but not all embodiments of the present disclosure. The disclosure may be embodied or practiced in other different specific embodiments, and details within the subject specification may be modified or changed from various points of view and applications without departing from the spirit of the disclosure. It should be noted that the following embodiments and features in the embodiments may be combined with each other without conflict. All other embodiments, which can be made by one of ordinary skill in the art without inventive effort, based on the embodiments in this disclosure are intended to be within the scope of this disclosure.
It is noted that various aspects of the embodiments are described below within the scope of the following claims. It should be apparent that the aspects described herein may be embodied in a wide variety of forms and that any specific structure and/or function described herein is merely illustrative. Based on the present disclosure, one skilled in the art will appreciate that one aspect described herein may be implemented independently of any other aspect, and that two or more of these aspects may be combined in various ways. For example, an apparatus may be implemented and/or a method practiced using any number of the aspects set forth herein. In addition, such apparatus may be implemented and/or such methods practiced using other structure and/or functionality in addition to one or more of the aspects set forth herein.
It should also be noted that the illustrations provided in the following embodiments merely illustrate the basic concepts of the disclosure by way of illustration, and only the components related to the disclosure are shown in the drawings and are not drawn according to the number, shape and size of the components in actual implementation, and the form, number and proportion of the components in actual implementation may be arbitrarily changed, and the layout of the components may be more complicated.
In addition, in the following description, specific details are provided in order to provide a thorough understanding of the examples. However, it will be understood by those skilled in the art that the aspects may be practiced without these specific details.
The embodiment of the disclosure provides a high-sensitivity active back driving control system for a surgical robot. The active back drive control system of the high-sensitivity surgical robot provided in this embodiment may be implemented by a computing device, which may be implemented as software or as a combination of software and hardware, and may be integrally provided in a server, a client, or the like.
Referring to fig. 1, 2, 3 and 4, the active back driving control method of the high-sensitivity surgical robot disclosed in the application comprises the following steps:
s101, a high-sensitivity torque sensor and a controller for calculating the compensation torque in real time are mounted on a mechanical arm, and the controller is used for realizing active high-sensitivity reverse driving control;
s102, the controller improves torque sensitivity by performing main torque compensation without changing the structure of the mechanical arm and the inherent weight and inertia of the mechanical arm;
s103, the method for improving torque sensitivity includes: 1) Gravity compensation for overcoming the influence of gravity on the system; 2) Friction force compensation for reducing the influence of friction force on the system; 3) Inertial compensation for reducing the impact of inertia on the system;
specifically, a moment sensor may be disposed on each joint of the robot to measure an operation parameter of the robot joint in an operation process, and a robot controller is also disposed to control a force of the mechanical arm at a preset frequency (for example, a frequency of 300 Hz).
The method for realizing the active reverse driving comprises the following steps:
1) Kinetic parameter identification
In order to achieve accurate and sensitive control, accurate kinetic parameters of the robot, namely the mass, the centroid position and the moment of inertia matrix of each axis of the mechanical arm, need to be obtained. Under the condition of dh parameters (Denavit-Hartenberg parameters) of the existing mechanical arm, an optimal excitation track for identifying the power parameters can be designed, and the position, the speed and the acceleration of the mechanical arm and the data of the moment of each joint can be obtained by enabling the mechanical arm to move along the optimal excitation track.
The mechanical arm dynamics equation based on lagrangian mechanics, although being a nonlinear equation of mechanical arm position, velocity and acceleration, can prove that it is linear for mechanical arm dynamics parameters, that is:
where q is the position of the robotic arm,
for the speed of the arm +.>
The acceleration of the mechanical arm is represented by M, the inertia matrix is represented by C, the coriolis force-centripetal force matrix is represented by C, the gravity matrix is represented by G, and the acceleration is a key parameter in a nonlinear equation; y is a dynamic linear coefficient matrix, theta is a dynamic parameter, tau is a joint moment, J is a Jacobian matrix of the mechanical arm, and F is an external force.
Based on a linear dynamic equation, data fitting can be performed on the corresponding data of the optimal excitation track, so that the accurate dynamic parameter theta of the mechanical arm is obtained. After the parameters theta are obtained, the corresponding inertia matrix M, the centripetal force matrix C and the gravity matrix G can be reconstructed according to dh parameters.
2) Gravity compensation
In order to realize reverse driving, the dead weight of the mechanical arm needs to be balanced by the output torque of the motor.
Under the condition of the dynamic parameter theta of the existing system, the gravity moment G (q) of the mechanical arm can be calculated, so that the robot controller calculates the real-time gravity moment at high frequency and controls the robot to output the driving moment equal to the gravity moment, namely
G(q)＝τ c
The kinetic equation then becomes
Therefore, when the mechanical arm is stationary, the mechanical arm can be kept stationary without external force as the speed and the acceleration are both 0 and the left side of the equation is 0; on the other hand, because the inertia item is very small compared with the coriolis force item and the gravity item, when the user actively applies the external force, the user only needs to provide a small external force to drag the mechanical arm.
Gravity compensation is critical for back driving, and in general, the robotic arm operates in a position control mode, or force control mode, in which towing is not possible with considerable stiffness; in the force control mode, if the output torque and gravity are different, the robotic arm cannot remain stationary when the user releases his hand, which is intolerable in surgical robots.
3) Inertial compensation
In order to make the back drive more sensitive, the inertia of the robot arm needs to be compensated so that the robot arm has a smaller apparent inertia.
Under the existing gravity compensation condition, a user only needs to overcome the inertia and the coriolis force of the robot when dragging the robot, and the following relationship can be considered to be approximately established because the coriolis force is very small in a low-speed state:
therefore, the robot can be controlled to output a part of driving moment, so that the hand feeling is lighter when a user pushes the mechanical arm, and the user drives in the reverse direction just like pushing a smaller mass m (q), so that the user has higher sensitivity, namely, the user can drag the mechanical arm with smaller force. On the other hand, due to the low apparent inertia, the contact force of the robot arm and the tissue will be correspondingly smaller.
This inertial compensation process can be described by the following two equations:
the simultaneous obtained inertia compensation moment is as follows:
τ comp ＝(M(q)m(q) -1 -I n )J T F
wherein the external moment tau ext Estimating from current joint moment sensor readings and mechanical arm position parameters:
in the control of the gravity compensation plus the inertia compensation, the driving torque is then:
τ c ＝G(q)+(M(q)m(q) -1 -I n )τ ext
according to the method, active torque compensation can be performed through the real-time high-performance controller under the condition that the structure of the mechanical arm and the inherent weight and inertia of the mechanical arm are not required to be changed, and the active back driving control of the high sensitivity of the robot is improved.
According to a specific implementation of an embodiment of the disclosure, the method includes:
the mechanical arm is provided with a high-sensitivity moment sensor and a controller for calculating the compensation torque in real time, and the controller is used for realizing active high-sensitivity reverse driving control;
the controller improves torque sensitivity by performing main torque compensation without changing the structure of the mechanical arm and the inherent weight and inertia of the mechanical arm;
the method for improving torque sensitivity comprises the following steps: 1) Gravity compensation for overcoming the influence of gravity on the system; 2) Friction force compensation for reducing the influence of friction force on the system; 3) Inertial compensation for reducing the impact of inertia on the system.
According to a specific implementation of an embodiment of the disclosure, the method further includes:
after acquiring kinetic parameters of a mechanical arm of a surgical robot, constructing a kinetic equation for a linear form of the mechanical arm;
performing data fitting on corresponding data of the optimal excitation track of the dynamic equation, so as to acquire a dynamic parameter theta of the mechanical arm, and reconstructing an inertia matrix M, a centripetal force matrix C and a gravity matrix G contained in the dynamic equation according to dh parameters of the mechanical arm after acquiring the parameter theta;
for the reconstructed kinetic equation, performing gravity compensation and inertia compensation operation to obtain the driving moment tau of the mechanical arm c ；
Based on the driving torque τ c And executing active reverse driving operation on the mechanical arm.
According to a specific implementation of an embodiment of the disclosure, the method further includes:
and carrying out data fitting after linearizing a kinetic equation of the mechanical arm, wherein the method comprises the following steps:
aiming at the kinetic parameters of the mechanical arm, constructing a kinetic equation:
where q is the position of the robotic arm,
for the speed of the arm +.>
The mechanical arm acceleration is represented by M, an inertia matrix, C, a Coriolis force-centripetal force matrix, G, a gravity matrix and Y, and a dynamic linear coefficient matrixθ is a kinetic parameter, τ is a joint moment, J is a jacobian matrix of the mechanical arm, and F is an external force.
According to a specific implementation of an embodiment of the disclosure, the performing gravity compensation and inertia compensation operations for the reconstructed kinetic equation includes:
controlling the robot to output a driving torque tau equal to the gravitational torque c That is, the first and second substrates are,
G(q)＝τ c
at the same time change the kinetic equation into
According to a specific implementation of an embodiment of the disclosure, the performing the gravity compensation and the inertia compensation operations for the reconstructed kinetic equation further includes:
in the case of existing gravity compensation, the following formula is set:
according to a specific implementation of an embodiment of the disclosure, the performing the gravity compensation and the inertia compensation operations for the reconstructed kinetic equation further includes:
the control robot outputs a part of driving moment again, so that the effect of pushing the mechanical arm by the user is equivalent to pushing a small mass of m (q). And the contact force between the mechanical arm and the tissue is correspondingly smaller due to the low apparent inertia. The inertial compensation process is described by the following two equations:
thereby obtaining the inertia compensation moment tau comp The method comprises the following steps:
τ comp ＝(M(q)m(q) -1 -I n )J T F。
according to a specific implementation of an embodiment of the disclosure, the performing the gravity compensation and the inertia compensation operations for the reconstructed kinetic equation further includes:
external torque tau is estimated through current joint torque sensor reading and mechanical arm position parameter ext ：
Further, in the control of gravity compensation and inertia compensation, the driving torque τ c The method comprises the following steps:
τ c ＝G(q)+(M(q)m(q) -1 -I n )τ ext
in correspondence with the above method embodiment, referring to fig. 4, the present invention further provides a high-sensitivity active back drive control system 40 for a surgical robot, comprising:
a construction means 401 for constructing a kinetic equation for a linear form of a manipulator of a surgical robot after acquiring kinetic parameters of the manipulator;
fitting means 402, configured to perform data fitting on corresponding data of the optimal excitation trajectory of the kinetic equation, so as to obtain a kinetic parameter θ of the mechanical arm, so that after the parameter θ is obtained, an inertia matrix M, a centripetal force matrix C, and a gravity matrix G included in the kinetic equation are reconstructed according to dh parameters of the mechanical arm;
calculation means 403 for performing gravity compensation and inertia compensation operations for the reconstructed kinetic equation, resulting in a driving moment τ of the mechanical arm c ；
An actuator 404 for driving the torque τ based on the drive torque τ c And executing active reverse driving operation on the mechanical arm.
The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The units involved in the embodiments of the present disclosure may be implemented by means of software, or may be implemented by means of hardware. The name of the unit does not in any way constitute a limitation of the unit itself, for example the first acquisition unit may also be described as "unit acquiring at least two internet protocol addresses".
It should be understood that portions of the present disclosure may be implemented in hardware, software, firmware, or a combination thereof.
The foregoing is merely specific embodiments of the disclosure, but the protection scope of the disclosure is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the disclosure are intended to be covered by the protection scope of the disclosure. Therefore, the protection scope of the present disclosure shall be subject to the protection scope of the claims.
Claims (8)
1. The active reverse driving control method of the high-sensitivity surgical robot is characterized by comprising the following steps of:
the mechanical arm is provided with a high-sensitivity moment sensor and a controller for calculating the compensation torque in real time, and the controller is used for realizing active high-sensitivity reverse driving control;
the controller improves torque sensitivity by performing main torque compensation without changing the structure of the mechanical arm and the inherent weight and inertia of the mechanical arm;
the method for improving torque sensitivity comprises the following steps: 1) Gravity compensation for overcoming the influence of gravity on the system; 2) Friction force compensation for reducing the influence of friction force on the system; 3) Inertial compensation for reducing the impact of inertia on the system.
2. The method according to claim 1, wherein the method further comprises:
after acquiring kinetic parameters of a mechanical arm of a surgical robot, constructing a kinetic equation for a linear form of the mechanical arm;
performing data fitting on corresponding data of the optimal excitation track of the dynamic equation, so as to acquire a dynamic parameter theta of the mechanical arm, and reconstructing an inertia matrix M, a centripetal force matrix C and a gravity matrix G contained in the dynamic equation according to dh parameters of the mechanical arm after acquiring the parameter theta;
for the reconstructed kinetic equation, performing gravity compensation and inertia compensation operation to obtain the driving moment tau of the mechanical arm c ；
Based on the driving torque τ c And executing active reverse driving operation on the mechanical arm.
3. The method according to claim 2, wherein the method further comprises:
and carrying out data fitting after linearizing a kinetic equation of the mechanical arm, wherein the method comprises the following steps:
aiming at the kinetic parameters of the mechanical arm, constructing a kinetic equation:
where q is the position of the robotic arm,
for the speed of the arm +.>
The mechanical arm acceleration sensor is characterized in that the mechanical arm acceleration sensor is an acceleration of a mechanical arm, M is an inertia matrix, C is a coriolis force-centripetal force matrix, G is a gravity matrix, Y is a dynamic linear coefficient matrix, θ is a dynamic parameter, τ is a joint moment, J is a Jacobian matrix of the mechanical arm, and F is an external force.
4. A method according to claim 3, wherein the performing gravity compensation and inertia compensation operations for the reconstructed kinetic equation comprises:
controlling the robot to output a driving torque tau equal to the gravitational torque c That is, the first and second substrates are,
G(q)＝τ c
at the same time change the kinetic equation into
5. The method of claim 4, wherein the performing gravity compensation and inertia compensation operations for the reconstructed kinetic equation further comprises:
in the case of existing gravity compensation, the following formula is set:
6. the method of claim 5, wherein the performing gravity compensation and inertia compensation operations for the reconstructed kinetic equation further comprises:
the control robot outputs a part of driving moment again, so that the effect of pushing the mechanical arm by the user is equivalent to pushing a small mass of m (q). And the contact force between the mechanical arm and the tissue is correspondingly smaller due to the low apparent inertia. The inertial compensation process is described by the following two equations:
thereby obtaining the inertia compensation moment tau comp The method comprises the following steps:
τ comp ＝(M(q)m(q) -1 -I n )J T F。
7. the method of claim 6, wherein the performing gravity compensation and inertia compensation operations for the reconstructed kinetic equation further comprises:
external torque tau is estimated through current joint torque sensor reading and mechanical arm position parameter ext ：
Further, in the control of gravity compensation and inertia compensation, the driving torque τ c The method comprises the following steps:
τ c ＝G(q)+(M(q)m(q) -1 -I n )τ ext
8. a high sensitivity surgical robot active backdrive control system, comprising:
the construction device is used for constructing a dynamics equation aiming at the linear form of the mechanical arm of the surgical robot after acquiring the dynamics parameters of the mechanical arm;
the fitting device is used for carrying out data fitting on corresponding data of the optimal excitation track of the dynamic equation so as to acquire the dynamic parameter theta of the mechanical arm, so that an inertia matrix M, a centripetal force matrix C and a gravity matrix G contained in the dynamic equation can be reconstructed according to dh parameters of the mechanical arm after the parameter theta is acquired;
the computing device is used for executing gravity compensation and inertia compensation operation aiming at the reconstructed kinetic equation to obtain the driving moment tau of the mechanical arm c ；
Actuator for based on said driving torque τ c And executing active reverse driving operation on the mechanical arm.
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| CN202310196166.4A CN116172715A (en) | 2023-03-03 | 2023-03-03 | Active reverse driving control method and system for high-sensitivity surgical robot |
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