柔性双臂医疗机器人无传感器零力控制算法研究

提出了一种无传感器零力控制算法,来实现机器人的牵引示教功能。首先,根据机器人的结构特点建立机器人动力学模型;其次,将采集的混杂有高频噪声的驱动器数据进行滤波得到了可供辨识使用的有效信息数据;再次,结合摩擦力数据分布不规律的特性,采用切比雪夫拟合法对摩擦力模型进行辨识,模拟牵引到停止过程中完整的加减速过程中的摩擦力补偿变化,并分析了其相对于传统的最小二乘法的优势;最后,通过拟合实验证明本算法的准确性,验证机器人本体在工程上的有效性,并根据操作的实际情况分析了拟合次数对于摩擦模型准确度的影响。

Research on Sensorless Force-Free Control Algorithm for Flexible Dual-Arm Medical Robot

A sensorless force-free control algorithm is proposed to realize the robot's traction teaching.Firstly,the robot dynamics model is built according to the structural characteristics of the robot.Secondly,the collected driver data with high-frequency noise is filtered which can be used for identifying effective information.Thirdly,using the Chebyshev fitting method to identify the friction model according to the irregular distribution of the friction data,the friction compensation during the complete acceleration-deceleration process is simulated Finally,the accuracy of the proposed algorithm is verified by fitting experiments to verify the validity of the robot ontology.According to the actual situation of the operation,the influence of fitting times on the accuracy of the friction model is analyzed.