Control method and system of robot based on virtual fixture

Abstract

The invention discloses a control method and system of a robot based on a virtual fixture. The robot comprises a robot arm, and an operator is arranged at the end of the robot arm. The control methodincludes the steps: calculating the shortest distance d according to the posture and the planned processing area; acquiring a guiding force f acting on the end and decomposing it into a component force fN in the normal direction of the shortest distance d and a component force fT in the tangential direction; when the shortest distance d is less than or equal to a preset threshold value D1 and greater than or equal to 0 and the guiding force f points to the boundary of the planned machining area, calculating the target speed vt of the end according to the following formula: vt=G (f) (fT + c. Tau. FN), c. Tau. = d / D1, G (f) is the admittance coefficient; acquiring a current velocity va of the terminal, and calculating a target acceleration at of the terminal according to the current velocityva and the guiding force f; and controlling the manipulator according to the target speed vt and the target acceleration at. The invention adds an acceleration control loop according to the complex curved surface environment, which ensures the machining efficiency in the operation process and improves the safety of the operation.

Description

technical field [0001] The invention relates to the technical field of robot control, in particular to a method and system for controlling a robot based on a virtual fixture. Background technique [0002] Since robots entered the medical field, with the improvement of technical level, robot-assisted surgery has gradually become a hot spot in the research of biomedicine and robotics. Due to the advantages of less trauma, shorter recovery time, and more precise operation, robot-assisted surgery has been applied in many types of surgery. [0003] So far, with the introduction of robots in more complex surgeries, such as neurosurgery, orthopedics, and cardiac surgery, such surgeries have placed greater demands on physician involvement, operational safety, and precision. Judging from the actual research and development and clinical application results, semi-autonomous auxiliary robots based on human-machine collaboration have received the most attention in fields such as orthope...

AI Technical Summary

Problems solved by technology

[0006] The technical problem to be solved by the present invention is to overcome the defects in the prior art that the participation of the virtual fixture reduces the operability of the robot, the processing efficiency and safety during the operation are not high, and the lack of virtual fixture control methods for complex curved surface environments , providing a control method and system for a virtual fixture-based robot aiming at the control of a virtual fixture in a complex curved surface environment and having high operability

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