Study On Joint Suppleness Control Of Bone Cutting Robots

Collaborative robot is a collaborative operation of intelligent robots,it has a certain degree of suppleness,environmental adaptability is high,so this type of robot in medical,industrial production,service industry and many other fields of application is also more and more extensive.Because of this,the soft control method of collaborative robots has become a hot research direction,and impedance control is one of the important methods of soft control.The bone cutting robot studied in this paper is a kind of collaborative robot,which assists doctors to do full knee replacement surgery for patients through robot bone cutting,so as to reduce the workload of doctors and improve the effect of surgery.This is an important embodiment of collaborative robots in the medical field,and it is also one of the important applications of soft control algorithms.Based on this,this thesis studies the joint suppleness control of the bone cutting robot.First of all,the principle and calculation process of the six-point calibration method are introduced and analyzed in this paper to determine the relative position of the tool center point relative to the end flange of the robotic arm,and from the perspective of the experimental platform itself,considering the convenience and versatility,the six-point calibration method is applied to the bone cutting robot,the specific steps of calibration are determined,and the evaluation of accuracy is determined,laying the foundation for bone cutting experiments.Secondly,the polynomial interpolated trajectory planning,trapezoidal trajectory programming and S-shaped trajectory programming algorithms are analyzed and simulated,and the characteristics of each trajectory planning are analyzed according to the kinematic curves obtained by simulation.Combining the robot itself with the experimental requirements,the two sliding joints of the bone cutting actuator adopt the control mode of S-shaped trajectory planning,which further improves the performance of the bone cutting robot to ensure the stable progress of subsequent bone cutting experiments.Finally,the principle and characteristics of compliance control algorithm are analyzed.The simulation model of traditional impedance control is built by Simulink,and the simulation of force and position tracking is carried out under different input signals.The simulation results verify the effectiveness of tracking.Aiming at the defects of traditional impedance control for dynamic signal tracking,an adaptive impedance control algorithm is proposed to improve the performance of the system,and a simulation model is built.The simulation results verify that the control performance is good.The adaptive impedance control algorithm is applied to the bone cutting robot.The experimental results of bone cutting prove the feasibility of the algorithm.