面向医疗机器人的柔性驱动技术研究
摘 要
随着机器人技术的不断进步,医疗机器人被广泛关注。柔性机器人在医疗机器人中具有广阔的应用前景,可以很好地适应复杂的医疗环境和手术操作要求。但是,柔性机器人在运动控制上存在柔性变形、非线性和模型不确定性等难题,限制了其在医疗应用中的实际效果。本文从运动学与动力学控制角度出发,对柔性机器人运动控制的技术难点和研究现状进行了分析和总结,并综合运用模型预测控制、改进型自适应扰动观测器和增量式PID算法等创新性思路,提出了一种基于柔性模型和自适应控制的柔性机器人控制策略,具有较好的鲁棒性和精度。
关键词:柔性机器人、自适应控制、医疗机器人、模型预测控制
Abstract
With the continuous improvement of robot technology, medical robots have received great attention. Flexible robots have broad application prospects in medical robots, and can adapt to complex medical environments and surgical operation requirements. However, there are problems such as flexible deformation, nonlinearity, model uncertainty in the motion control of flexible robots, which limits their actual effects in medical applications. This paper analyzes and summarizes the technical difficulties and research status of motion control of flexible robots from the perspectives of kinematics and dynamics control, and proposes a flexible robot control strategy based on flexible models and adaptive control, which has better robustness and accuracy by using innovative ideas such as model predictive control, improved adaptive disturbance observer and incremental PID algorithm.
Keyword: Flexible robot、Adaptive control、 Medical robot 、Model predictive control
目 录
1引言 1
2相关理论和技术基础 1
2.1医疗机器人概述 1
2.2柔性驱动技术原理及应用 2
2.3相关传感器技术 2
3柔性驱动模块设计与实现 2
3.1机械结构设计 2
3.2传感器模块设计 3
3.3控制器模块设计 3
4面向医疗机器人的柔性驱动技术的不足 4
4.1系统响应速度不足 4
4.2器械手持久稳定性不够 4
4.3传感器精度不足 4
5面向医疗机器人的柔性驱动技术的优化 5
5.1基于深度学习的控制算法 5
5.2增加系统容错机制 5
5.3优化传感器精度 6
6结语 6
参考文献 7
致谢 8
摘 要
随着机器人技术的不断进步,医疗机器人被广泛关注。柔性机器人在医疗机器人中具有广阔的应用前景,可以很好地适应复杂的医疗环境和手术操作要求。但是,柔性机器人在运动控制上存在柔性变形、非线性和模型不确定性等难题,限制了其在医疗应用中的实际效果。本文从运动学与动力学控制角度出发,对柔性机器人运动控制的技术难点和研究现状进行了分析和总结,并综合运用模型预测控制、改进型自适应扰动观测器和增量式PID算法等创新性思路,提出了一种基于柔性模型和自适应控制的柔性机器人控制策略,具有较好的鲁棒性和精度。
关键词:柔性机器人、自适应控制、医疗机器人、模型预测控制
Abstract
With the continuous improvement of robot technology, medical robots have received great attention. Flexible robots have broad application prospects in medical robots, and can adapt to complex medical environments and surgical operation requirements. However, there are problems such as flexible deformation, nonlinearity, model uncertainty in the motion control of flexible robots, which limits their actual effects in medical applications. This paper analyzes and summarizes the technical difficulties and research status of motion control of flexible robots from the perspectives of kinematics and dynamics control, and proposes a flexible robot control strategy based on flexible models and adaptive control, which has better robustness and accuracy by using innovative ideas such as model predictive control, improved adaptive disturbance observer and incremental PID algorithm.
Keyword: Flexible robot、Adaptive control、 Medical robot 、Model predictive control
目 录
1引言 1
2相关理论和技术基础 1
2.1医疗机器人概述 1
2.2柔性驱动技术原理及应用 2
2.3相关传感器技术 2
3柔性驱动模块设计与实现 2
3.1机械结构设计 2
3.2传感器模块设计 3
3.3控制器模块设计 3
4面向医疗机器人的柔性驱动技术的不足 4
4.1系统响应速度不足 4
4.2器械手持久稳定性不够 4
4.3传感器精度不足 4
5面向医疗机器人的柔性驱动技术的优化 5
5.1基于深度学习的控制算法 5
5.2增加系统容错机制 5
5.3优化传感器精度 6
6结语 6
参考文献 7
致谢 8