| 基于四元数的手术机器人圆弧轨迹规划 |
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| 引用本文： | 乔 正,栾 楠,张诗雷. 基于四元数的手术机器人圆弧轨迹规划[J]. 机械与电子, 2014, 0(3): 61-64 |
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| 作者姓名： | 乔 正 栾 楠 张诗雷 |
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| 作者单位： | [1]上海交通大学机械与动力工程学院,上海200240 [2]上海交通大学医学院附属第九人民医院,上海200011 |
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| 基金项目： | 国家自然科学基金资助项目（81371193）;上海交通大学医工交叉基金资助项目（YG2011MS06） |
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| 摘 要： | 为提高七自由度手术机器人末端执行器空间圆弧作业任务的位姿轨迹精度,系统提出采用四元数代替原有的齐次坐标矩阵描述末端执行器的位置和姿态,并采用梯形速度规划生成平滑连续的位姿轨迹,实现等夹角姿态均匀渐变。以在研究的颅颌面七自由度冗余手术机器人为原型,通过三次B样条曲线对反解后的关节轨迹进行插值处理,生成各关节速度、加速度连续平滑的轨迹规划曲线。仿真结果表明,算法符合手术机器人的插补精度和连续性要求,具有实际推广价值。
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| 关 键 词： | 四元数 空间圆弧 轨迹规划 B样条 |
Circular Traj ectory Planning for A 7 DOF Surgical Robot |
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| Affiliation: | QIAO Zheng , LUAN Nan , ZHANG Shi - lei ( 1. School of Mechanical Engineering, Shanghai Jiaotong University, Shanghai 200240, China ; 2. Shanghai Ninth People＇s Hospital Affiliated to Shanghai Jiaotong University of Medicine, Shanghai 200011,China) |
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| Abstract: | To improve the arc traj ectory preci-sion of 7 DOF robot end effector passing the non collinear three points,this paper uses quater-nion to describe the position and posture of the end effector instead of the original homogeneous coor-dinate matrix,generates smooth continuous pose traj ectory by using trapezoidal velocity and realizes posture change gradually and linearly.Take the in research 7 DOF cranio maxillofacial surgical robot as the prototype,three B spine curve inter-polation was carried out on the inverse solution of joint trajectory,and generate continuous smooth velocity and acceleration curve of each joint.Simu-lation results showed that the proposed circular arc＆amp;nbsp;traj ectory algorithm conforms to the requirements of the interpolation precision and continuity of the robot,and can be applied to practical situation. |
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| Keywords: | quaternion arc in space traj ectory planning B spine |
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