微创手术机器人力反馈主手重力补偿研究

针对医生操作微创手术机器人力反馈主手进行主从微创手术时力反馈主手各杆件重力阻碍操作性能的问题，基于虚位移原理对力反馈主手各关节的重力矩进行推导，并采用Adams仿真软件对其进行验证．该方法适用于开链和闭链结构的机器人臂，与传统的牛顿－欧拉法和拉格朗日法相比，它不需考虑速度、加速度，且简单有效．然后采用电机驱动的方式对力反馈主手的各连杆重力进行补偿，实现了重力的完全补偿．实验结果表明，基于虚位移原理的主动重力补偿能够达到较好的补偿效果，将未补偿前的重力矩作用减小了60%以上，提高了力反馈主手的操作性能．

Gravity Compensation for the Force Reflection Manipulator of Minimally Invasive Surgical Robot

When the surgeon performs the master-slave minimally invasive surgery by controlling the force reflection manipulator of the minimally invasive surgical robot, the gravities of its links will impede the manipulation performance. To solve this problem, the gravity torques on the joints of the force reflection manipulator are derived based on the virtual displacement principle, and the correctness of the formulation is verified through Adams simulation. The proposed method is applicable to the robot manipulators with the open-loop and closed-loop structures, and is simpler and more effective than the traditional Newton-Euler method and Lagrange method because it needn't consider the speed and acceleration. Then the link gravities of the force reflection manipulator are compensated fully through motor driving. Experimental results show that the active gravity compensation algorithm based on virtual displacement principle can achieve good performance by reducing the gravity torque effects by 60%, and improve the manipulation performance of the force reflection manipulator.