基于粒子群优化方法的同心管连续型机器人运动学算法

Kinematics Algorithm of Continuous Concentric-tube Robot Based on Particle Swarm Optimization

针对一种应用于微创手术的同心管连续型机器人运动学算法展开研究,通过几种不同运动学算法比较,在兼顾精度以及计算复杂程度的前提下,选用最小能量法建立其运动学数学模型,并选择利用粒子群优化算法强大的寻优能力对相关能量函数寻求最优解。建立了从驱动空间参数到关节空间所有参数的映射关系,通过坐标变换和参数拟合,得到同心管连续型机器人从基点到末端点空间姿态的表达式。通过运动学算例和三维模型的运动学仿真获得的运动轨迹进行对比验证,说明了算法模型的可行性和准确性。

Aiming at the kinematics algorithm study of the concentric tube continuous robot applied in minimally invasive surgery,this paper compares several different kinematics algorithms and selects the minimum energy method to establish the kinematics mathematical model on the premise of both accuracy and computational complexity. Then the particle swarm optimization algorithm is used to optimize relevant energy function for the optimal solution because of its powerful optimization ability. Finally,the mapping relation of all parameters from drive space to joint space is set up,and the posture expression from basis point to end point of the robot is obtained through coordinate transformation and parameters fitting. At last,this paper compares the simulation results with the algorithm model by the use of Adams kinematics simulation,which shows the feasibility and accuracy of the kinematics model.