介入机器人运动学及轨迹规划研究

针对介入机器人运动学和轨迹规划问题,基于D-H坐标系理论建立了血管介入主端机器人的运动学方程,并对该方程进行了求解;其次,在关节空间内采用五次多项式插值方法,结合介入机器人运动参数对关节轨迹进行了插值计算,实现了对血管介入机器人关节空间的PTP轨迹规划;最后,利用Matlab机器人工具箱建立了该机器人的三维仿真模型,并且对机器人运动学、轨迹规划进行了仿真验证。研究结果表明:该机器人连杆参数设计合理,活动空间适应手术要求,运动学方程准确可靠,在关节空间内利用五次多项式进行轨迹规划保证了机器人运动连续平滑。目前该技术已应用于血管介入手术临床试验中。

Study of kinematics and trajectory planning for intervention robot

Aiming at solving the problems of robot kinematics and trajectory planning, the kinematics equations of vascular intervention robot were built to analyze robot kinematics problems which were based on D-H coordinate system theory. Secondly, in the joint space, quintic polynomial interpolation method was involved in the joint trajectory interpolation calculation,which combined the parameters of the robot. PTP trajectory planning of vascular intervention robot was realized in joint space. Finally, the model of the robot was established to simulate the robot kinematics and trajectory planning via Matlab toolbox.The results indicate that robot parameter is reasonable, and quintic polynomial trajectory planning in joint space ensure the continuous and smooth motion of robot. At present, the technology have been used in clinical trials of vascular interventional procedures.