机械与电子2025，Vol.43Issue(10)：34-41,8.
面向微创手术的机械臂全位姿柔顺控制
Full Pose Compliance Control of Manipulators for Minimally Invasive Surgery
摘要
Abstract
To address the challenges of end-effector force estimation and rigid contact between the end-effector and objects in collaborative robotic arms performing minimally invasive animal surgeries,a disturbance observer-based force/torque(F/T)estimation method is proposed,along with a quaternion-based full-pose admittance control strategy.Firstly,we proposed an end-effector F/T estimation method based on a nonlinear disturbance observer.By integrating the robotic manipulator's dynamic parameters with real-time joint torque measurements,the provided approach could estimate the end-effector interac-tion F/T without requiring a dedicated wrist F/T sensor.Then,a full pose compliance control method that considered both translation and rotation was developed,allowing the end-effector to respond to external F/T by translating or rotating as needed.Finally,an experimental platform based on a 7-DOF manipulator equipped with a wrist F/T sensor was developed to validate the effectiveness of the proposed end-effector F/T estimation method and full-pose compliance control strategy,demonstrating high engineering appli-cability.关键词
微创手术/机械臂/末端力估计/非线性扰动观测器/全位姿柔顺Key words
minimally invasive surgery/robotic manipulator/end-effector force estimation/nonlinear disturbance observer/full pose compliance control分类
信息技术与安全科学引用本文复制引用
夏胜男,邢宏军,杨海燕..面向微创手术的机械臂全位姿柔顺控制[J].机械与电子,2025,43(10):34-41,8.基金项目
国家自然科学基金资助项目(52405025) （52405025）
江苏省自然科学基金资助项目(BK20230889) （BK20230889）
