A method for dragging and guiding positioning of a manipulator based on joint torque

A joint torque, guidance and positioning technology, applied in surgical manipulators, surgical robots, computer-aided surgery, etc., can solve the problems of convenience, small safety risks, and low cooperation between robotic arms and doctors, and reduce production. Cost, high security, direct and clear effect of control instructions

Active Publication Date: 2022-06-28
HANGZHOU JOINTECH LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This solution still has a lot of safety risks in the surgical scene, and the cooperation between the robot arm and the doctor is not high, and the convenience of use is often criticized

Method used

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  • A method for dragging and guiding positioning of a manipulator based on joint torque
  • A method for dragging and guiding positioning of a manipulator based on joint torque
  • A method for dragging and guiding positioning of a manipulator based on joint torque

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Embodiment Construction

[0015] In order to clarify the technical details of the present invention, the content of the present invention will be further described in detail below with reference to the accompanying drawings and examples.

[0016] like figure 1 As shown, the method for dragging, guiding and positioning a mechanical arm based on joint torque provided by the present invention includes the following steps:

[0017] S1. Acquisition of joint torque data of the robotic arm;

[0018] In order to make the expression more precise, it is hereby stated that the joint torque mentioned below refers to the transmission torque, that is, the vector sum of all the moments generated between the connecting rod and the connecting rod. According to the different types of manipulators, the acquisition methods of joint torque can be divided into three types: motor current estimation, joint torsion amplitude estimation and strain gage measurement. The motor current estimation uses the proportional relationsh...

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Abstract

The present invention relates to the technical field of mechanical arm control, in particular to a method for dragging and guiding positioning of a mechanical arm based on joint torque. The method includes: obtaining the joint torque of the mechanical arm; , establish the tool coordinate system; use the method of parameter identification to separate the external force and external torque based on the tool coordinate system from the coupled joint torque data; use a low-pass filter to filter the external force and external torque; call the speed controller; Convert velocity into motion control commands. The method adopted by the invention has wide application range, high operation safety, good drag flexibility and supports drag movement with limited conditions, and is very suitable for being applied in the field of robot-assisted surgery.

Description

technical field [0001] The invention relates to the technical field of robotic arm control, in particular to a method for dragging, guiding and positioning a robotic arm based on joint torque. Background technique [0002] Robot-assisted surgery is playing an increasingly important role in modern surgery. Robots are born out of modern computer technology and have the characteristics of high precision and high stability. Compared with traditional surgical results, which are highly dependent on the doctor's experience, robot-assisted surgery digitizes the surgical process through visual cues and robotic arm guidance, which greatly reduces the degree of surgical effect's dependence on the doctor's experience. [0003] The robotic arm usually plays the role of guiding positioning in robot-assisted surgery, such as guiding the position of osteotomy and guiding the installation angle of the prosthesis in orthopedic surgery, and is often used to position the puncture needle in the...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): A61B34/30A61B34/00
CPCA61B34/30A61B34/75A61B34/77A61B34/76A61B2034/305
Inventor 甘博涵乔天上官佳荣文理为
Owner HANGZHOU JOINTECH LTD
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