静脉采血机器人NURBS曲线轨迹规划研究

Research on Trajectory Planning of Venous Blood Sampling Robot Based on NURBS Curve

为研究静脉采血机器人在针体植入过程中的NURBS曲线轨迹规划问题,以提高NURBS曲线的插补精度、系统运行过程中的平稳性为优化指标,提出了基于Simpson法的NURBS插补算法求解预估插补参数,并改进预估插补参数校正法来简化计算。采用基于正弦加速度曲线的NURBS插补速度规划方法并在法向加速度和弓高误差的共同约束下,控制插补速度并保证加速度连续。最后在设计的静脉采血机器人上用MATLAB进行仿真分析。结果表明,该算法简化了插补计算,降低了弓高误差,提高了插补精度,并有效控制了速度波动率,使运行平稳、运行轨迹连续平滑。

In order to study the trajectory planning of the non-uniform rational B-splines(NURBS) curve of the venous blood sampling robot during the needle implantation process, improving the interpolation accuracy of the NURBS curve and the stability of the system during operation is taken as the optimization index. A NURBS interpolation algorithm based on the Simpson method is proposed to solve the estimated interpolation parameters, and the estimated interpolation parameter correction method is improved to simplify the calculation.The NURBS interpolation speed planning method based on the sinusoidal acceleration curve is used to control the interpolation speed and ensure continuous acceleration under the common constraints of normal acceleration and bow height error. Finally, MATLAB is used for simulation analysis on the designed venous blood sampling robot. The results show that the algorithm simplifies the interpolation calculation, reduces the bow height error, improves the interpolation accuracy, and effectively controls the speed fluctuation rate, so that the operation is stable and the trajectory is continuous and smooth.