[1]李国琪,胡陟,陈籽聿,等.基于干扰观测器的双臂手术机器人自适应阻抗控制[J].中国医学物理学杂志,2023,40(6):714-719.[doi:DOI:10.3969/j.issn.1005-202X.2023.06.008]
　LI Guoqi,HU Zhi,CHEN Ziyu,et al.Adaptive impedance control of dual-arm surgical robot based on disturbance observer[J].Chinese Journal of Medical Physics,2023,40(6):714-719.[doi:DOI:10.3969/j.issn.1005-202X.2023.06.008]
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基于干扰观测器的双臂手术机器人自适应阻抗控制()
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《中国医学物理学杂志》[ISSN:1005-202X/CN:44-1351/R]

卷:
40卷
期数:
2023年第6期
页码:
714-719
栏目:
医学信号处理与医学仪器
出版日期:
2023-06-27

文章信息/Info

Title:
Adaptive impedance control of dual-arm surgical robot based on disturbance observer
文章编号:
1005-202X（2023）06-0714-06
作者:
李国琪; 胡陟; 陈籽聿; 孙丽岩
上海工程技术大学电子电气工程学院， 上海 201620
Author(s):
LI Guoqi;  HU Zhi;  CHEN Ziyu;  SUN Liyan
School of Electric and Electronic Engineering, Shanghai University of Engineering Science, Shanghai 201620, China
关键词:
手术机器人; 双臂协作; 阻抗控制; 运动跟踪
Keywords:
Keywords: surgical robot dual-arm collaboration impedance control motion tracking
分类号:
R318；TP242
DOI:
DOI:10.3969/j.issn.1005-202X.2023.06.008
文献标志码:
A
摘要:
针对双臂机器人在辅助颅颌面软组织手术中由于环境参数变化而无法有效跟踪目标速度和目标位置的问题，以及机械臂系统模型本身存在的未知扰动，提出基于干扰观测器的双臂手术机器人自适应阻抗控制的方法。该方法针对环境参数变化对机械臂产生的干扰进行补偿，自适应地调整阻抗控制模型，提高手术过程中双机械臂的速度及位置跟踪性能，以保证双臂手术机器人在真实的医疗手术场景中能够达到安全性要求。实验结果表明，在变参数的颅颌面手术环境中，该控制策略可较好地克服机械臂本身不确定性和环境参数变化的干扰，位置跟踪优化9.5%，速度跟踪优化13%，双臂位置误差峰值改善60％，双臂位置误差振荡次数减少50%，使得双机械臂更快收敛于期望轨迹，验证该改进控制方法的可靠性。
Abstract:
Abstract: To overcome the problem that the dual-arm robot cannot effectively track the target speed and target position due to changes in environmental parameters in robot-assisted craniomaxillofacial surgery, and to address the issue of the unknown disturbance in the robotic arm system model itself, a dual-arm surgical robot based on disturbance observer is proposed for adaptive impedance control. The method compensates for the disturbance of the robotic arm caused by changes in environmental parameters, adaptively adjusts the impedance control model, and improves the speed and position tracking performance of the dual-arm robot during the surgery, so as to ensure that the dual-arm robot can meet the safety requirements in the actual surgical scenarios. The experimental results show that in the craniomaxillofacial surgery environment with variable parameters, the control strategy can better overcome the uncertainties of the robotic arm itself and the disturbance of changes in environmental parameters. The optimizations of position tracking and speed tracking reach 9.5% and 13% the peak position error is reduced by 60% and the number of oscillations of the position error of the dual arms is decreased by 50%, which makes the dual arms converge to the desired trajectory faster, verifying the reliability of the improved control strategy.

相似文献/References:

[1]王泽华,胡陟,陆玮铭,等.基于模糊变导纳的颅颌面手术机器人接触力控制[J].中国医学物理学杂志,2022,39(12):1544.[doi:DOI:10.3969/j.issn.1005-202X.2022.12.014]
　WANG Zehua,HU Zhi,LU Weiming,et al.Controlling contact force in robot-assisted cranio-maxillofacial surgery using fuzzy variable admittance[J].Chinese Journal of Medical Physics,2022,39(6):1544.[doi:DOI:10.3969/j.issn.1005-202X.2022.12.014]
[2]冯逾鹏,张杰,杨兴海.基于主动光源阵列的骨科机器人末端示踪装置[J].中国医学物理学杂志,2024,41(2):220.[doi:DOI:10.3969/j.issn.1005-202X.2024.02.015]
　FENG Yupeng,ZHANG Jie,et al.Terminal tracer equipment based on active light source array for surgical robot[J].Chinese Journal of Medical Physics,2024,41(6):220.[doi:DOI:10.3969/j.issn.1005-202X.2024.02.015]

备注/Memo

备注/Memo:
【收稿日期】2022-12-05 【基金项目】国家重点研发计划（2019YFC0119303）；中国博士后基金面上项目（2021M690629） 【作者简介】李国琪，硕士在读，研究方向：机器人控制技术，E-mail: 386179976@qq.com 【通信作者】胡陟，讲师，硕士生导师，研究方向：虚拟力反馈控制，E-mail: huzhi26@126.com
更新日期/Last Update: 2023-06-28