摘要
由于达芬奇手术机器人构型特殊,不满足逆运动学解析解的存在条件,传统的运动学建模方法无法求出机器人逆运动学解析解。针对一种类达芬奇手术机器人构型,提出了一种结合旋量理论和消元法相结合的全新运动学建模方法,运用该方法成功求解出类达芬奇手术机器人的逆运动学解析解,解决了类达芬奇手术机器人精确解析解的求解问题。并通过MATLAB/Simulink仿真验证了该方法的正确性,从而丰富了机器人运动学建模和逆运动学解析解的求解理论,为类达芬奇手术机器人提供了一种快速通用的精确解析解求解方法。
Because of the Da Vinci surgical robot has a special joint configuration,the existence condition of its inverse kinematics analytic solution is not satisfied,that means the inverse kinematics analytical solution of Da Vinci surgical robot can′t be obtained by traditional kinematics modeling method.In this paper,a new kinematics modeling method which combining screw theory with elimination method is first proposed for a kind of robot similar to Da Vinci surgical robot configuration.The inverse kinematics analytical solution of Da Vinci surgical robot is solved successfully by using the proposed method,and the correctness of the method is verified by MATLAB/Simulink simulation.This study enriches the theory of robot kinematics modeling and inverse kinematics analytic solution and provides a fast and general method for accurate analytical solution of Da Vinci surgical robot.
作者
王文杰
陶庆
王晓华
张旭
WANG Wenjie;TAO Qing;WANG Xiaohua;ZHANG Xu(School of Electronics and Information,Xi′an Polytechnic University,Xi′an,710048,China)
出处
《机械科学与技术》
CSCD
北大核心
2021年第5期734-740,共7页
Mechanical Science and Technology for Aerospace Engineering
基金
国家自然科学基金项目(51905405)
陕西省自然科学基础研究计划项目(2019JQ-855)
陕西省教育厅自然科学专项计划项目(19JK0375)
研究生创新基金项目(chx2019026)。
关键词
逆运动学
解析解
旋量消元法
手术机器人
运动学建模
inverse kinematics
analytical solution
screw elimination method
surgical robot
kinematics modeling
