摘要
为了实现手术机器人绕固定点运动的运动方式,提出了一种新型串联六自由度手术机器人模型,模型通过算法控制的多关节联动实现定点运动。该模型结构设计满足Pieper准则,并采用移动关节和旋转关节的串联连接结构,使机器人能通过固定点以任意姿态到达工作空间的任意位置。运动学计算使用解析法求出模型的8组解析解,基于计算软件编程计算验证其正确性。对机器人模型进行必要扩展,使用建模软件完成模型创建,基于ROS平台研究学习运动控制工具MoveIt!及可视化工具RViz,对模型进行运动规划和可视化仿真,验证了模型的可行性和整体算法的正确性。
In order to realize the movement of the surgical robot around a fixed point,a new serial 6-DOF surgical robot model is proposed,and the model realizes fixed-point movement through multi-joint linkage controlled by an algorithm.The structural design of the model meets Pieper's criterion,the model adopts a series connection structure of moving joint and rotating joint,so that the robot can reach any position in the work space with any posture through a fixed point.Kinematics calculations are used for the analytical methods to obtain eight sets of analytical solutions of the model,and its correctness is verified based on programming calculations.The robot model has been extended as necessary,and the modeling software is used to complete the model creation,based on the ROS platform motion control tool MoveIt!and the visualization tool RViz,the model was subjected to motion planning and visual simulation,which verified the feasibility of the model and the correctness of the overall algorithm.
作者
王庆升
周惠兴
王衍学
WANG Qingsheng;ZHOU Huixing;WANG Yanxue(School of Mechanical-Electronic and Vehicle Engineering, Beijing University of Civil Engineering and Architecture, Beijing 100044;Building Robot and Intelligent Equipment Intelligent Laboratory, Beijing University of Civil Engineering and Architecture, Beijing 100044)
出处
《北京建筑大学学报》
2021年第2期78-85,共8页
Journal of Beijing University of Civil Engineering and Architecture
基金
国家自然科学基金项目(51875032)。
关键词
手术机器人
运动学逆解
RCM
ROS仿真
surgical robot
inverse kinematics
remote center-of-motion
ROS simulation
