CN114700951A - Compliance control method for medical robot - Google Patents

Compliance control method for medical robot Download PDF

Info

Publication number
CN114700951A
CN114700951A CN202210443330.2A CN202210443330A CN114700951A CN 114700951 A CN114700951 A CN 114700951A CN 202210443330 A CN202210443330 A CN 202210443330A CN 114700951 A CN114700951 A CN 114700951A
Authority
CN
China
Prior art keywords
control
robot
force
medical robot
admittance
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202210443330.2A
Other languages
Chinese (zh)
Inventor
付明磊
徐涛
张文安
刘锦元
仇翔
刘安东
杨旭升
史秀纺
周叶剑
吴麒
胡佛
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Zhejiang University of Technology ZJUT
Original Assignee
Zhejiang University of Technology ZJUT
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Zhejiang University of Technology ZJUT filed Critical Zhejiang University of Technology ZJUT
Priority to CN202210443330.2A priority Critical patent/CN114700951A/en
Publication of CN114700951A publication Critical patent/CN114700951A/en
Pending legal-status Critical Current

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • B25J9/1676—Avoiding collision or forbidden zones

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

A compliance control method for a medical robot, comprising the steps of: step 1: according to the expected displacement value of the robot end effector, the actual acting force of the environment and the set admittance parameters, the external contact force is converted into the position correction X through the outer ring admittance controlc(t); and 2, step: and (3) constructing an inner ring control method by adopting synovial membrane control to obtain a corresponding inner ring feedback control torque tau, and inputting the inner ring feedback control torque tau into a motor system for control so as to realize the flexible control of the joint of the medical robot. The invention can effectively ensure certain flexibility when the medical robot is in flexible physical contact with a patient or grabs an external flexible object when the medical robot is used for nursing the patient, ensures the safety and robustness when the medical robot is in contact with the patient, and prevents the patient and the mechanical arm from being injured and damaged.

Description

Compliance control method for medical robot
Technical Field
The invention relates to the field of medical robots, in particular to a compliance control method for a medical robot.
Background
To solve the problem of poor population of the medical staff, researchers are gradually studying how to perform some actions that nurses need to perform daily through robots, such as: changing infusion bottle, transferring water bottle, opening door for help, etc. The existing medical robot generally comprises a movable chassis and mechanical arms carried by a robot body, wherein the chassis is used for moving, and the mechanical arms are used for interacting with the environment. However, when a general mechanical arm performs an interactive action, such as article grabbing through an end effector, the flexibility of the mechanical arm when grabbing an object is not considered, and the interactive action is completed through the rigidity of the mechanical arm, and a traditional control method makes the force used for grabbing the object constant, which easily causes damage to the mechanical arm and harms the life safety of a patient. However, the safety and robustness of the nursing robot in performing actions need to be considered when the nursing robot takes care of the patient. Therefore, the invention provides a compliance control method for a medical robot based on the above.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, and provides a compliance control method for a medical robot, which ensures that the medical robot has certain compliance in the grabbing task process while executing a basic grabbing task, so as to protect the integrity of an object to be grabbed and the safety of a patient.
The technical scheme adopted by the invention for realizing the purpose is as follows: a compliance control method for a medical robot, comprising the steps of:
step 1: according to the expected displacement value of the robot end effector, the actual acting force of the environment and the set admittance parameters, the external contact force is converted into the position correction X through the outer ring admittance controlc(t)；
Step 2: an inner ring control method is constructed by adopting synovial membrane control to obtain a corresponding inner ring feedback control torque tau, and the inner ring feedback control torque tau is input into a motor system to be controlled, so that the flexible control of the medical robot joint is realized;
the step 1 is as follows:
s1, planning the target position of the end effector by the medical robot through a motion planning algorithm according to the actual demand of the patient;
s2, when the medical robot reaches the target position, the medical robot is in physical contact with the environment to obtain the real-time force of the tail end, and the real-time force of the tail end is compared with the preset expected force to obtain the deviation of the tail end force;
and S3, correcting the tail end deviation force acquired in the S2 through the outer ring admittance controller to obtain the position correction of the tail end of the mechanical arm, and acquiring a new target position.
Further, the outer ring admittance controller of step S3 specifically includes:
s3.1, converting the external contact torque into a position correction quantity X through outer ring admittance control according to the expected displacement value of the robot end effector, the actual acting force of the environment and the set admittance parametersc(t) and constructing an admittance-controlled model therefrom:
Figure BDA0003614934980000021
wherein Sm、Dm、KmRespectively representing an inertia diagonal matrix, a damping diagonal matrix and a rigidity positive definite diagonal matrix of the admittance control model; fj(t)、Fi(t)、Fe(t) medical robot tips in Cartesian coordinate systems, respectivelyThe expected interaction force, the actual interaction force and the actual deviation force obtained by the actuator; xi(t), X (t) and Xc(t) respectively representing an expected motion track, a target control track and a track response quantity of the end effector of the robot in the medical care system in a Cartesian coordinate system;
Figure BDA0003614934980000022
respectively representing the second derivative and the first derivative of the track adjustment amount to the time.
S3.2 Reconfiguration of equation (1) in the frequency domain using the Laplace transform is available:
Figure BDA0003614934980000023
through the outer ring admittance control in the step 1, a dynamic relation between force and displacement can be established, and the fluctuation of the contact force of the robot and an object in interaction around an expected force can be limited by changing the displacement of the end effector, however, the admittance control cannot realize the track tracking of a moving target, so that the invention realizes the tracking of the displacement of the end effector of the mechanical arm by selecting the fuzzy synovial membrane control to establish an inner ring control method.
The step 2 is as follows:
t1, transmitting the current tail end position information acquired by the medical robot and the new position information acquired in S3 into the inner ring synovial controller together to obtain the control moment of the tail end of the medical robot;
t2: the control torque at the tail end of the medical robot is sent to the motor system, so that the flexible control of the medical robot is realized.
Further, the inner ring sliding mode control of step T1 specifically includes:
t1.1, designing a sliding mode control module:
defining the track error e (t) of each sliding module as:
e(t)＝K(Ti(t)-T(t)) (3)
where T is the actual return trajectory, TiIs a desired control trajectoryAnd K is a proportionality coefficient.
T1.2, defining a sliding mode switching function H (T) as:
Figure BDA0003614934980000031
where Q is a proportional positive diagonal matrix.
T1.3 design of sliding mode control law by sign function sgn ()
Figure BDA0003614934980000032
Wherein M is a gain positive definite diagonal matrix of the switching function, and the element values thereof are adjusted by a fuzzy controller, so that:
Figure BDA0003614934980000033
t1.4, namely the above formula is the sliding mode controller designed by the invention, and the equivalent deformation is converted into a direct expression form (7) of acceleration and moment through a general expression form (6) of a Lagrange kinetic equation of the robot.
Figure BDA0003614934980000034
Figure BDA0003614934980000035
Wherein the content of the first and second substances,
Figure BDA0003614934980000036
TLgeneralized acceleration, velocity and position, J, respectively, of a generalized coordinate in a Cartesian coordinate systemM、JC、JGRespectively representing the moment of inertia, centrifugal moment and gravitational moment of the robot, JD、JK、 FL、ELRespectively representing Jacobian matrix of the robot, motor torque conversion matrix and component force of each coordinate axis of the robot end effectorAnd motor drive torque, wherein
Figure BDA0003614934980000037
τ1、τ2、τ2Respectively the three-dimensional moment in the motor space.
T1.5 is such that TLEqual to T, substituting (7) into (5) yields:
Figure BDA0003614934980000041
t1.6, through equation transformation, the expression form of the final joint moment to be controlled and the acceleration of the sliding mode control rate can be finally obtained:
Figure BDA0003614934980000042
finally, the control torque is output through the sliding mode control rate, and the flexible control of the medical robot is realized.
Through the construction of above-mentioned gentle and agreeable controller, medical robot can use terminal moment to turn into the position correction for input through outer loop control when contacting with the patient, the rethread inner ring synovial membrane control realizes the tracking of end effector displacement, use control moment as output, through the motion of each joint of medical robot moment control robot, the stronger characteristic of compliance that embodies that medical robot can be obvious in the contact process, can stop immediately when specifically embodying for touchhing the object in the motion process, treat that the barrier disappears, resume the motion.
The beneficial effects of the invention are as follows: the compliance control method provided by the invention can effectively ensure certain compliance when the medical robot is in flexible physical contact with a patient or grabs an external flexible object when the medical robot is nursing the patient, ensure the safety and robustness when the medical robot is in contact with the patient, and prevent the patient and the mechanical arm from being injured and damaged.
Drawings
FIG. 1 is a flow chart of the method of the present invention;
FIG. 2 is a block diagram illustrating the overall operation of the compliance control system according to the present invention.
Detailed Description
The invention is described in detail below with reference to the figures and specific embodiments. It is noted that the aspects described below in connection with the figures and the specific embodiments are only exemplary and should not be construed as imposing any limitation on the scope of the present invention.
The invention discloses a compliance control method for a medical robot, which comprises the following steps:
step 1: according to the expected displacement value of the robot end effector, the actual acting force of the environment and the set admittance parameters, the external contact force is converted into the position correction quantity X through the outer ring admittance controlc(t)；
Step 2: and (3) constructing an inner ring control method by adopting synovial membrane control to obtain a corresponding inner ring feedback control torque tau, and inputting the inner ring feedback control torque tau into a motor system for control so as to realize the flexible control of the joint of the medical robot.
Further, with reference to fig. 1, the specific steps of step 1 are:
s1, planning the target position of the end effector of the medical robot at the next moment through an RRT algorithm according to the requirement;
s2, according to the movement track planning obtained in S1, the track is interpolated through the moment control of the robot, so that the end effector of the medical robot reaches a target position, and the real-time force obtained through the end force sensor is compared with the preset expected force to obtain force deviation;
s3, correcting the deviation force obtained in the step S2 through an outer ring admittance controller to obtain position correction of the tail end of the mechanical arm, and obtaining a new target position;
still further, with reference to fig. 2, the outer ring admittance controller of step S3 specifically includes:
s3.1, converting the external contact torque into a position correction quantity X through outer ring admittance control according to the expected displacement value of the robot end effector, the actual acting force of the environment and the set admittance parametersc(t) and constructing an admittance control therewithPreparing a model:
Figure BDA0003614934980000051
wherein Sm、Dm、KmRespectively representing an inertia diagonal matrix, a damping diagonal matrix and a rigidity positive definite diagonal matrix of the admittance control model; fj(t)、Fi(t)、Fe(t) representing a desired interaction force, an actual interaction force, and an actual and desired deviation force, respectively, achieved by the healthcare robot end-effector in a cartesian coordinate system; xi(t), X (t) and Xc(t) respectively representing an expected motion track, a target control track and a track response quantity of the end effector of the robot in the medical care system in a Cartesian coordinate system;
Figure BDA0003614934980000052
respectively representing the second derivative and the first derivative of the track adjustment amount to the time.
S3.2 re-describing equation (1) in the frequency domain using the laplace transform can be obtained:
Figure BDA0003614934980000053
further, with reference to fig. 1, the specific steps of step 2 are:
t1, transmitting the current tail end position information acquired by the medical robot and the new position information acquired in S3 into an inner ring sliding mode controller to obtain the control moment of the tail end of the medical robot;
and T2, sending the tail end control torque obtained in the T1 to a motor system, and realizing the flexible control of the medical robot through the torque control of the medical robot.
Further, with reference to fig. 2, the inner-ring sliding-mode controller described in step T1 specifically includes:
through the outer ring admittance control in the S3, a dynamic relation between the output force and the displacement can be established, and the fluctuation of the contact force of the robot and an object in the interaction process can be limited around the expected force by changing the displacement of the end effector, however, the admittance control cannot realize the track tracking of the moving target, so that the invention realizes the tracking of the displacement of the end effector of the mechanical arm by selecting the sliding film control to construct the inner ring control method.
T1.1, slip-form control module design:
defining the track error e (t) of each sliding module as:
e(t)＝K(Ti(t)-T(t)) (3)
where T is the actual return trajectory, TiK is a scaling factor for the desired control trajectory.
T1.2, defining a sliding mode switching function H (T) as:
Figure BDA0003614934980000061
where Q is a proportional positive diagonal matrix.
T1.3 design of sliding mode control law by sign function sgn
Figure BDA0003614934980000062
Wherein M is a gain positive definite diagonal matrix of the switching function, and the element values thereof are adjusted by a fuzzy controller, so that:
Figure BDA0003614934980000063
t1.4, therefore, the above formula is the sliding mode controller designed by the invention, and the robot Lagrange kinetic equation general expression form (6) is used for equivalently deforming the sliding mode controller into a direct expression form (7) of acceleration and moment.
Figure BDA0003614934980000064
Figure BDA0003614934980000065
Wherein the content of the first and second substances,
Figure BDA0003614934980000066
TLgeneralized acceleration, velocity and position, J, respectively, of a generalized coordinate in a Cartesian coordinate systemM、JC、JGRespectively representing the moment of inertia, centrifugal moment and gravitational moment of the robot, JD、JK、 FL、ELRespectively representing Jacobian matrix, motor torque conversion matrix, component force of each coordinate axis of the robot end effector and motor driving torque of the robot, wherein
Figure BDA0003614934980000071
T1.5 is such that TLEqual to T, substituting (7) into (5) yields:
Figure BDA0003614934980000072
t1.6, through equation transformation, the expression form of the final joint moment to be controlled and the acceleration of the sliding mode control rate can be finally obtained:
Figure BDA0003614934980000073
finally, the control torque is output through the sliding mode control rate, and the flexible control of the medical robot is realized.
The embodiments described in this specification are merely illustrative of implementations of the inventive concept and the scope of the present invention should not be considered limited to the specific forms set forth in the embodiments but includes equivalent technical means as would be recognized by those skilled in the art based on the inventive concept.

Claims (3)

1. A compliance control method for a medical robot, comprising the steps of:
step 1: in accordance withAccording to the expected displacement value of the robot end effector, the actual acting force of the environment and the set admittance parameters, the external contact force is converted into the position correction quantity X through the outer ring admittance controlc(t); the method specifically comprises the following steps:
s1, planning the target position of the end effector by the medical robot through a motion planning algorithm according to the actual demand of the patient;
s2, when the medical robot reaches the target position, the medical robot is in physical contact with the environment to obtain the real-time force of the tail end, and the real-time force is compared with the preset expected force to obtain the deviation of the tail end force;
s3, correcting the tail end deviation force acquired in the S2 through an outer ring admittance controller to obtain position correction of the tail end of the mechanical arm and acquire a new target position;
step 2: an inner ring control method is constructed by adopting synovial membrane control to obtain a corresponding inner ring feedback control torque tau, and the inner ring feedback control torque tau is input into a motor system to be controlled, so that the flexible control of the medical robot joint is realized; the method specifically comprises the following steps:
t1, transmitting the current tail end position information acquired by the medical robot and the new position information acquired in S3 into an inner ring sliding film controller together to obtain the control torque of the tail end of the medical robot;
t2: the control torque at the tail end of the medical robot is sent to the motor system, so that the flexible control of the medical robot is realized.
2. A compliance control method for a medical robot as recited in claim 1, wherein: the outer ring admittance controller of step S3 specifically includes:
s3.1, converting the external contact torque into a position correction quantity X through outer ring admittance control according to the expected displacement value of the robot end effector, the actual acting force of the environment and the set admittance parametersc(t) and constructing an admittance-controlled model therefrom:
Figure FDA0003614934970000011
wherein Sm、Dm、KmRespectively representing an inertia diagonal matrix, a damping diagonal matrix and a rigidity positive definite diagonal matrix of the admittance control model; fj(t)、Fi(t)、Fe(t) representing a desired interaction force, an actual interaction force, and an actual and desired deviation force, respectively, achieved by the healthcare robot end-effector in a cartesian coordinate system; xi(t), X (t) and Xc(t) respectively representing an expected motion track, a target control track and a track response quantity of the end effector of the robot in the medical care system in a Cartesian coordinate system;
Figure FDA0003614934970000021
respectively representing a second derivative and a first derivative of the track corresponding adjustment quantity to time;
s3.2 Reconfiguration of equation (1) in the frequency domain using the Laplace transform can be found:
Figure FDA0003614934970000022
through the outer ring admittance control in the step 1, a dynamic relation between force and displacement can be established, and the fluctuation of the contact force of the robot and an object in interaction around an expected force can be limited by changing the displacement of the end effector, however, the admittance control cannot realize the track tracking of a moving target, so that the invention realizes the tracking of the displacement of the end effector of the mechanical arm by selecting the fuzzy synovial membrane control to establish an inner ring control method.
3. A compliance control method for a medical robot as recited in claim 1, wherein: the inner ring sliding mode control of step T1 specifically includes:
t1.1, designing a sliding mode control module:
defining the track error e (t) of each sliding module as:
e(t)＝K(Ti(t)-T(t)) (3)
where T is the actual return trajectory, TiK is a proportionality coefficient for a desired control trajectory;
t1.2, defining a sliding mode switching function H (T) as:
Figure FDA0003614934970000023
wherein Q is a proportional positive diagonal matrix;
t1.3 design of sliding mode control law by sign function sgn
Figure FDA0003614934970000024
Wherein M is a gain positive definite diagonal matrix of the switching function, and the element values thereof are adjusted by a fuzzy controller, so that:
Figure FDA0003614934970000025
t1.4, therefore, the above formula is the sliding mode controller designed by the invention, and the sliding mode controller is equivalently deformed into a direct expression form (7) of acceleration and moment through a general expression form (6) of a Lagrange kinetic equation of the robot;
Figure FDA0003614934970000026
Figure FDA0003614934970000027
wherein the content of the first and second substances,
Figure FDA0003614934970000031
TLgeneralized acceleration, velocity and position, J, respectively, of a generalized coordinate in a Cartesian coordinate systemM、JC、JGRespectively representing the moment of inertia, centrifugal moment and gravitational moment of the robot, JD、JK、FL、ELIndividual watchA Jacobian matrix of the robot, a motor torque conversion matrix, component forces of all coordinate axes of the robot end effector and motor driving torque, wherein
Figure FDA0003614934970000032
τ1、τ2、τ2Three-dimensional moments in the motor space are respectively;
t1.5 is such that TLEqual to T, substituting (7) into (5) yields:
Figure FDA0003614934970000033
t1.6, through equation transformation, the expression form of the final joint moment to be controlled and the acceleration of the sliding mode control rate can be finally obtained:
Figure FDA0003614934970000034
and finally, outputting a control torque through the sliding mode control rate to realize the flexible control of the medical robot.
CN202210443330.2A 2022-04-25 2022-04-25 Compliance control method for medical robot Pending CN114700951A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202210443330.2A CN114700951A (en) 2022-04-25 2022-04-25 Compliance control method for medical robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202210443330.2A CN114700951A (en) 2022-04-25 2022-04-25 Compliance control method for medical robot

Publications (1)

Publication Number Publication Date
CN114700951A true CN114700951A (en) 2022-07-05

Family

ID=82174364

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202210443330.2A Pending CN114700951A (en) 2022-04-25 2022-04-25 Compliance control method for medical robot

Country Status (1)

Country Link
CN (1) CN114700951A (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116079746A (en) * 2023-03-29 2023-05-09 纳博特南京科技有限公司 Flexible grabbing method
CN117204955A (en) * 2023-11-06 2023-12-12 华东交通大学 Force control system of flexible surgical robot and device thereof

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2007102748A (en) * 2005-09-06 2007-04-19 Nagoya Institute Of Technology Position controller, method and program for controlling position
CN104050355A (en) * 2014-03-25 2014-09-17 浙江工业大学 Mechanical arm outer force estimation method based on H infinite filtration
CN109806106A (en) * 2019-02-01 2019-05-28 中山大学 A kind of control method of the lower limb rehabilitation robot combined based on robust control with admittance control
CN111230882A (en) * 2020-02-25 2020-06-05 江苏大学 Self-adaptive variable impedance control method for fruit sorting parallel robot clamping mechanism
CN111249005A (en) * 2020-03-20 2020-06-09 苏州新医智越机器人科技有限公司 Puncture surgical robot compliance control system
CN111281743A (en) * 2020-02-29 2020-06-16 西北工业大学 Self-adaptive flexible control method for exoskeleton robot for upper limb rehabilitation
CN112454351A (en) * 2020-10-28 2021-03-09 上海景奕智能控制技术有限公司 Manipulator control method and device and manipulator
CN114167725A (en) * 2021-11-30 2022-03-11 荆楚理工学院 Cooperative robot trajectory tracking control method and system

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2007102748A (en) * 2005-09-06 2007-04-19 Nagoya Institute Of Technology Position controller, method and program for controlling position
CN104050355A (en) * 2014-03-25 2014-09-17 浙江工业大学 Mechanical arm outer force estimation method based on H infinite filtration
CN109806106A (en) * 2019-02-01 2019-05-28 中山大学 A kind of control method of the lower limb rehabilitation robot combined based on robust control with admittance control
CN111230882A (en) * 2020-02-25 2020-06-05 江苏大学 Self-adaptive variable impedance control method for fruit sorting parallel robot clamping mechanism
CN111281743A (en) * 2020-02-29 2020-06-16 西北工业大学 Self-adaptive flexible control method for exoskeleton robot for upper limb rehabilitation
CN111249005A (en) * 2020-03-20 2020-06-09 苏州新医智越机器人科技有限公司 Puncture surgical robot compliance control system
CN112454351A (en) * 2020-10-28 2021-03-09 上海景奕智能控制技术有限公司 Manipulator control method and device and manipulator
CN114167725A (en) * 2021-11-30 2022-03-11 荆楚理工学院 Cooperative robot trajectory tracking control method and system

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116079746A (en) * 2023-03-29 2023-05-09 纳博特南京科技有限公司 Flexible grabbing method
CN117204955A (en) * 2023-11-06 2023-12-12 华东交通大学 Force control system of flexible surgical robot and device thereof

Similar Documents

Publication Publication Date Title
Song et al. A tutorial survey and comparison of impedance control on robotic manipulation
CN114700951A (en) Compliance control method for medical robot
Ansari et al. Towards the development of a soft manipulator as an assistive robot for personal care of elderly people
Ragonesi et al. Series elastic actuator control of a powered exoskeleton
CN107053179B (en) A kind of mechanical arm Compliant Force Control method based on Fuzzy Reinforcement Learning
US11337881B2 (en) Exoskeleton with admittance control
CN113681543B (en) Mechanical arm zero-force control method based on model prediction
US20100206651A1 (en) Robot apparatus and method of controlling the same, and computer program
US11969891B2 (en) 4D printed gripper with flexible finger joints and trajectory tracking control method thereof
CN111230873B (en) Teaching learning-based collaborative handling control system and method
Wang et al. Hybrid adaptive control strategy for continuum surgical robot under external load
EP2409203B1 (en) Method to control a robot device and robot device
CN109330819B (en) Master-slave type upper limb exoskeleton rehabilitation robot control system and control method thereof
Caldwell et al. Biomimetic actuators in prosthetic and rehabilitation applications
Si et al. Adaptive compliant skill learning for contact-rich manipulation with human in the loop
CN113001540A (en) Man-machine interaction intelligent control method of load-mobile exoskeleton and exoskeleton system
Yin et al. Modeling and control strategy of flexible joint servo system in humanoid manipulator driven by tendon-sheath
Jiang et al. A new impedance control method using backstepping approach for flexible joint robot manipulators
Zuo et al. Coupling disturbance compensated mimo control of parallel ankle rehabilitation robot actuated by pneumatic muscles
Ru et al. Design and control of a soft bending pneumatic actuator based on visual feedback
Han et al. The study of impedance control of lower extremity exoskeleton
Azizkhani et al. Design, modeling, and redundancy resolution of soft robot for effective harvesting
Li et al. A Robust Region Control Approach for Simultaneous Trajectory Tracking and Compliant Physical Human–Robot Interaction
Gao et al. A Trajectory Planning Algorithm for Medical Manipulators Based on Adaptive Particle Swarm Optimization and Fuzzy Neural Network.
Xiong et al. Motion control of cable-driven rehabilitation devices with large deformation cables

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination