Robot control method and system based on virtual fixture

Abstract

The invention discloses a control method and system for a robot based on a virtual fixture. The robot includes a mechanical arm, and a manipulator is arranged at the end of the mechanical arm. The control method includes the following steps: obtaining the pose of the manipulator; processing according to the pose and planning The area calculates the shortest distance d; takes the guiding force f acting on the tip and decomposes it into a component force f along the normal of the shortest distance d N and the force component f in the tangential direction T ; The shortest distance d is less than or equal to a preset threshold D 1 And when it is greater than or equal to 0 and the guiding force f points to the boundary of the planned processing area, calculate the target speed v of the end according to the following formula t :v t =G(f)(f T +c τ f N ), c τ =d / D 1 , G(f) is the admittance coefficient; obtain the current speed v of the end a , and according to the current velocity v a and the guiding force f to calculate the target acceleration a at the end t ; according to the target velocity v t and the target acceleration a t Control the robotic arm. According to the invention, an acceleration control loop is added to the complex curved surface environment, which ensures the processing efficiency during the operation and improves the operation safety.

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

Images