【摘要】：微創(chuàng)外科機(jī)器人具有靈活性高、定位準(zhǔn)確、運動平穩(wěn)和手眼協(xié)調(diào)等諸多優(yōu)點,然而,由于微創(chuàng)手術(shù)的特殊性,使得現(xiàn)有微創(chuàng)機(jī)器人系統(tǒng)缺乏力檢測和力反饋。針對上述問題,在分析現(xiàn)有力檢測技術(shù)的基礎(chǔ)上,構(gòu)建了外力觀測器對從機(jī)器人與環(huán)境間的作用力進(jìn)行觀測,設(shè)計了主從魯棒滑模控制器和主從力反饋結(jié)構(gòu),實現(xiàn)了無力/力矩傳感器力檢測與力反饋控制,為無力/力矩傳感器下的主從運動和力反饋控制奠定了研究基礎(chǔ)。本論文的主要研究內(nèi)容如下:首先,基于旋量理論分析了主從微創(chuàng)機(jī)器人的運動學(xué),并結(jié)合拉格朗日動力學(xué)建模方法建立了主從機(jī)器人動力學(xué)模型。通過ADAMS和MATLAB聯(lián)合仿真驗證了從機(jī)器人動力學(xué)模型的正確性,并分析了主從機(jī)器人動力學(xué)方程中各項對總力矩的貢獻(xiàn),為主從微創(chuàng)機(jī)器人動力學(xué)模型的簡化奠定基礎(chǔ)。其次,在分析非線性干擾觀測器的基礎(chǔ)上,提出了從機(jī)器人非線性外力觀測器,用于實現(xiàn)從機(jī)器人與環(huán)境間相互作用力的觀測,同時證明了外力觀測器的穩(wěn)定性。鑒于關(guān)節(jié)摩擦對觀測精度的影響,確定了 Stribeck模型為關(guān)節(jié)摩擦模型,采用遺傳算法對摩擦參數(shù)進(jìn)行了辨識,在從機(jī)器人外力觀測器中進(jìn)行了摩擦補(bǔ)償,實現(xiàn)精準(zhǔn)的外力觀測。再次,設(shè)計了微創(chuàng)機(jī)器人主從魯棒滑�？刂破�,構(gòu)建了主從力反饋系統(tǒng),實現(xiàn)了對主從機(jī)器人的精準(zhǔn)的位置控制和力反饋控制。通過Simulink仿真驗證了在有/無摩擦補(bǔ)償?shù)那闆r下力反饋控制系統(tǒng)的有效性和準(zhǔn)確性,且具有良好的主從位置跟蹤能力。最后,構(gòu)建了主從微創(chuàng)機(jī)器人實驗平臺,對外力觀測器和主從運動和力反饋控制進(jìn)行實驗研究,結(jié)果表明該控制系統(tǒng)具有較好的力反饋性能,實現(xiàn)了無力/力矩傳感器下的外力觀測和力反饋控制。
[Abstract]:Minimally invasive surgical robots have many advantages, such as high flexibility, accurate positioning, stable motion and hand-eye coordination. However, due to the particularity of minimally invasive surgery, the existing minimally invasive robot systems lack force detection and force feedback. In order to solve the above problems, based on the analysis of the current powerful detection technology, an external force observer is constructed to observe the force between the slave robot and the environment, and the master-slave robust sliding mode controller and the master-slave force feedback structure are designed. The force detection and force feedback control of powerless / torque sensor are realized, which lays a research foundation for master-slave motion and force feedback control under powerless / torque sensor. The main research contents of this paper are as follows: firstly, the kinematics of master-slave minimally invasive robot is analyzed based on spinor theory, and the dynamic model of master-slave robot is established by combining Lagrangian dynamic modeling method. The correctness of the slave robot dynamics model is verified by the joint simulation of ADAMS and MATLAB, and the contribution of the master-slave robot dynamics equation to the total torque is analyzed, which lays a foundation for the simplification of the master-slave minimally invasive robot dynamics model. Secondly, on the basis of analyzing the nonlinear disturbance observer, a slave robot nonlinear external force observer is proposed to observe the interaction between the robot and the environment, and the stability of the external force observer is proved at the same time. In view of the influence of joint friction on the observation accuracy, the Stribeck model is determined as the joint friction model. The friction parameters are identified by genetic algorithm, and the friction compensation is carried out from the robot external force observer to realize accurate external force observation. Thirdly, the master-slave robust sliding mode controller of minimally invasive robot is designed, and the master-slave force feedback system is constructed to realize the accurate position control and force feedback control of the master-slave robot. The effectiveness and accuracy of the force feedback control system with / without friction compensation are verified by Simulink simulation, and the force feedback control system has good master-slave position tracking ability. Finally, the experimental platform of master-slave minimally invasive robot is constructed, and the external force observer and master-slave motion and force feedback control are studied experimentally. the results show that the control system has good force feedback performance. The external force observation and force feedback control under powerless / torque sensor are realized.
【學(xué)位授予單位】：天津工業(yè)大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TP242

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