北京生物醫(yī)學(xué)工程

一種具有工具重力補償功能的機械臂力控牽引方法

A traction-force control method for manipulator with tool’s gravity compensation

作者：李寧孟繁樂曾柏偉丁輝王廣志

單位：清華大學(xué)醫(yī)學(xué)院生物醫(yī)學(xué)工程系（北京100084）

關(guān)鍵詞：串聯(lián)型機械臂；機械臂控制；力控牽引；緊急避障；重力補償

分類號：R318.04

出版年·卷·期（頁碼）：2017·36·1（1-8）

摘要：

目的本文根據(jù)多自由度機械臂在外科手術(shù)、康復(fù)訓(xùn)練中與操作人員進行實時力位交互的需求，設(shè)計了一種具有工具重力補償功能的機械臂力控牽引方法。方法首先通過安裝在機械臂末端的六自由度力傳感器檢測作用在末端工具上的牽引力，然后應(yīng)用上位機中的力-位與力-速控制算法將力信息轉(zhuǎn)化為機械臂末端預(yù)期位姿偏移量并更新機械臂末端運動速度，進而控制機械臂沿受力方向運動。本文進一步提出一種末端工具重力補償算法，能夠有效補償機械臂末端工具重力在力傳感器上的偏差值。結(jié)果實驗?zāi)M無框架立體定向手術(shù)的患者注冊環(huán)節(jié)，在無牽引力作用時上位機補償后的外力值控制在±0.2N以內(nèi)，最大力控循環(huán)采樣率30Hz，最大系統(tǒng)延遲52ms。結(jié)論通過牽引力控制能夠方便地對機械臂實現(xiàn)力控牽引擺位及運動過程中的緊急避障，重力補償效果明顯。

Objective To develop a traction force control method for manipulator with tool’s gravity compensation according to the need of force-position interaction in real time with operators in surgery and rehabilitation training. Methods We firstly use six-degree force transducer mounted on the end of the manipulator to detect traction force，then translate it to the displacement of the manipulator’s nominal position and update the motion velocity by force-displacement and force-velocity transfer algorithm，finally，drive the manipulator towards the direction of the traction force. A gravity compensation algorithm is implemented in this method in order to eliminate the deviations of the tool’s gravity. Results Experiments simulate the registration process of the stereotactic frameless surgery，and the data set suggests that the tool’s gravity compensates within ±0.2 N at the steady state. Maximum force control loop frequency is 30 Hz and maximum system latency is 52 ms. Conclusions The manipulator can be driven and avoid the obstacle by traction force easily and smoothly，and the outcome of the gravity compensation is significant.

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