Study On Motion Control Of Snake Like Robot

Micro surgical robot has developed rapidly in recent years,Through the micro surgical robot can realize the local point Radiotherapy of cancer patients,not only improve the quality of surgery,but also decrease side effects.The microscopic surgery radiotherapy robot teleoperation system was built proposed in this research,it's also have in-depth research and validation of mechanism design,master-slave control,precision compensation and joint control.The concrete research content is as follows:According to the specifics of robots in surgery and radiotherapy,mechanical design of enabling structure becomes important.The structure has two major components which are master-hand and slave-hand robotic parts.The slave-hand robot consists of a drive joint and micro-radiotherapy source which is fixed to the slave robot for surgical operation.According to the quality of the structural joints and size to choose appropriate torque of drive motor.In order to make slave-hand robot control more flexible.The study of the master-slave control of the remote operation micro-operation radiotherapy robot system was implemented.Forward kinematics of the robot's coordinate system was developed based DH parameters of both master and slave robotic configurations.On this basis,the control space of the robot is simulated to establish the master-slave motion mapping,control strategy was established to operate between the Cartesian and joint spaces of the robotic system.Based on the inverse solution of different algorithm experiment to meet the requirements on-line calculation and off-line calculation of slave-hand robot,in order to gain a good real-time control effect.inverse Jacobian control algorithm is applied in this paper,the neural network,the numerical calculation and the database call method to carry on the inverse solution for slave-hand robot,then analyzes the result,and makes the foundation for the following robot joint control method.The end of the positioning accuracy of the micro surgical robot determine the effect of surgery,accuracy of the articulation structure of the slave-hand robot joint is studied in this paper.The slave-hand adopted the gear drive method.Subject to slave-hand robot size restrictions by using DC brushless motor,the transmission angle error exists,so that analyzed transmission error of the slave-hand robot to determine the corner error is the main error.According to the location accuracy of error analysis,NDI Polaris optical positioning tracker was used to correct the joint angle so as to improve the positioning accuracy at end of the slave-hand robotThe joint control method of the slave-hand robot is studied.Based on simulation analysis of the control methods above on,all the results can't meet the requirements.Therefore,a new control method for the master and slave heterogeneous robot control system is proposed,and the control method is designed in detail.The experiment is carried out in LabVIEW environment with supporting NI hardware,and the effectiveness of the control method is verified.