天津工业大学学报2018，Vol.37Issue(1)：74-82,9.DOI:10.3969/j.issn.1671-024x.2018.01.013
主从遥操作机器人系统的附加反馈力补偿方法
A compensation method for induced feedback force of master-slave teleoperation robot system
摘要
Abstract
For master-slave teleoperation system in clinical minimally invasive surgery,the dynamic characteristics of the master manipulator will generate induced feedback force,thus affect the operator to perceive the real interaction feedback force information between slave manipulator and environment, further affect the operator to make correct force control behavior,and reduce the accuracy,quality and safety of surgery.To solve this problem,a method using induced force compensation based on the master manipulator is proposed so that the operator can accurately perceive the feedback force from the end of the slave manipulator. Firstly, the dynamics of the minimally invasive surgery robot system is analyzed, and the influence of master manipulator dynamic characteristics on force sense perception is revealed. Then the dynamic model of the master manipulator PHANToM considering joint friction for the teleoperation robot system is established,and the parameters of the model are identified and validated using the least square method. Based on these, the specific compensation strategy for induced feedback force is proposed. Finally, the induced feedback force compensation method is contrastively analyzed using the precise position supervisory control through the teleoperation experiment platform.The results show that compared with that under uncompensated condition,the feedback force accuracy of master manipulator is promoted by 3.9%,5.0% and 2.1% in X,Y and Z direction respectively after induced feedback force compensation.It illustrates that the induced feedback force compensation method can effectively reduce the influence of the inertia force,gravity and joint friction of master manipulator on the operator′s perce-ption of feedback force from the end of the slave manipulator.关键词
主从遥操作/机器人系统/反馈力/附加力补偿/摩擦力模型/参数辨识/最小二乘法Key words
master-slave teleoperation/robot system/feedback force/induced force compensation/friction model/pa-rameter identification/least square method分类
信息技术与安全科学引用本文复制引用
贠今天,从敬德..主从遥操作机器人系统的附加反馈力补偿方法[J].天津工业大学学报,2018,37(1):74-82,9.基金项目
天津市应用基础与前沿技术研究计划资助项目(16JCYBJC18400) （16JCYBJC18400）
