【摘要】 为消除由于主手的动力学特性所产生的附加反馈力对微创手术机器人系统透明性的影响,根据拉格朗日定理,建立了包含关节耦合摩擦力的主手(Phantom Desktop)动力学模型,并通过参数辨识实验求出了主手的相关参数;根据主手的动力学模型,提出了附加反馈力补偿策略并进行了遥操作实验。实验结果表明:本文提出的附加反馈力模型可以准确地描述真实的附加反馈力。更多还原

【Abstract】 In order to eliminate the impact of the induced feedback force due to the dynamic characteristics of the master manipulator on the transparency of the minimal invasive surgical robotic system, a dynamic model of the master manipulator(Phantom Desktop) including joint coupling friction forces was established according to Lagrangian theorem, and the relevant parameters of the master manipulator were obtained through parameters identification experiments. Based on the master-manipulator′ s dynamic model, the strategy of the induced feedback force compensation was proposed and a teleoperation experiment was performed. The experimental results showed that the induced feedback force model proposed can well describe the actual induced feedback force.更多还原