基于力同步的双臂手术机器人自适应阻抗控制

Adaptive impedance control of dualarm surgical robot based on force synchronization

针对在头颈部医疗手术中应用的双臂机器人的双臂末端接触环境刚度不确定会造成系统力跟踪误差较大,而接触力变化不同步会导致目标位置偏移等问题,提出了一种基于力同步的双臂手术机器人间接自适应阻抗控制策略。对实验中接触环境刚度不确定问题,采用间接自适应阻抗控制的方法以实现精确力跟踪;并在此基础上引入同步控制,根据系统对接触力同步性的要求程度设定力同步补偿系数,使双臂力变化能保持同步,以保证双臂医疗辅助机器人在真实应用场景中能够达到准确性和安全性的要求。仿真实验验证了改进控制方法的可靠性。

Aiming at the problem that the system force tracking error caused by arms end contact stiffness uncertainty environment is bigger,and contact force changes out of sync will lead to deviation of target location of dual-arm robot in head and neck medical surgery,a dual-arms surgery robot indirect adaptive impedance control strategy based on force synchronization is put forward.To solve the problem of uncertain contact environment stiffness in the experiment,the indirect adaptive impedance control method is adopted to achieve accurate force tracking.On this basis,the synchronous control is introduced,and the force synchronous compensation coefficient is set according to the system requirement of synchronicity of contact force,so that the force changes of both arms can keep synchronicity to ensure that the dual-arm medical assistant robot can meet the requirements of accuracy and safety in the real application scenarios.Reliability of the improved control method is verified by simulation experiments.