A robot control method, system, robot and storage medium

A control method and robot technology, applied in the fields of robots and storage media, systems, and robot control methods, can solve problems such as low precision and long operation time

Active Publication Date: 2022-05-13
CHENGDU BORNS MEDICAL ROBOTICS INC
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In the actual operation process, it is necessary to adjust the posture of the bed to achieve more convenient operation of the operating object. The conventional operation in this field is to manually adjust the posture of the robotic arm so that the robotic arm can reconnect with the operated object. positioning, this method has the disadvantages of long operation time and low accuracy

Method used

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  • A robot control method, system, robot and storage medium
  • A robot control method, system, robot and storage medium
  • A robot control method, system, robot and storage medium

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Embodiment Construction

[0041] In order to make the purposes, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments It is a part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of this application.

[0042] see below figure 1 , figure 1 It is a flow chart of a robot control method provided by the embodiment of this application.

[0043] Specific steps can include:

[0044] S101: Install a first marker at the end of the operating instrument, collect multiple sets of RCM calibration data when the robot is working, and obtain relative information ...

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Abstract

The present application discloses a robot control method, system, robot and storage medium. The method includes: collecting multiple sets of RCM calibration data when the robot is working, and obtaining the relative information of the base coordinates according to the RCM calibration data; according to the relative information of the base coordinates and Establish the kinematics model of the robot based on the initial pose data of the bed; determine the initial relative pose of the end of the operating instrument and the second marker according to the kinematics model of the robot; collect the current relative pose of the second marker and the marker detection device, And according to the current relative pose of the second marker and the marker detection device, the mechanical arm is controlled to move around the RCM point, so that the relative pose of the end of the operating instrument and the second marker is the same as the initial relative pose. The application can efficiently and accurately control the movement of the mechanical arm following the bed body.

Description

technical field [0001] The present application relates to the technical field of robot control, and in particular to a robot control method, system, robot and storage medium. Background technique [0002] With the advancement of science and technology, robot technology has gradually matured and been widely used. The robot usually includes a master console and a slave operating device. The master console includes a handle, and the operator sends control commands to the slave operating device through the operating handle; the slave operating device includes a robotic arm, and the distal end of the robotic arm has an operating arm, and the operating arm has a terminal instrument. . Since the robot usually has multiple mechanical arms, different operating instruments, such as scalpels, surgical scissors, endoscopes, nozzles, electric welding, etc., can be installed on different mechanical arms according to the division of labor during the operation. [0003] In order to improv...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16B25J13/00B25J13/08
CPCB25J9/1664B25J9/161B25J13/00B25J13/08
Inventor 李耀其他发明人请求不公开姓名
Owner CHENGDU BORNS MEDICAL ROBOTICS INC
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