机械臂目标区域跟踪防撞控制

针对医疗护理机械臂在轨迹跟踪过程中的人机交互与防碰撞问题，本文提出了一种基于目标区域跟踪以及碰撞预测的机械臂控制方法.本文根据Lyapunov函数，结合人工势能场，设计保证系统稳定性的控制器，实现在目标区域内人机交互的柔顺性；采用会遇距离与会遇时间构造防撞预测模型，建立障碍物作用半径与防撞安全指数的关联模型，实现障碍物作用半径实时可变.实验结果验证了本文所提方法对目标区域跟踪的有效性，人机交互的柔顺性，以及障碍物规避过程的高效，平滑.

Region tracking and collision avoidance control for the manipulator

Aiming at the problem of human robot interaction and anti collision of the medical nursing manipulator in the process of trajectory tracking, a control method of the manipulator is proposed based on target region tracking and collision prediction. In this paper, according to Lyapunov function and combined with the artificial potential field, the controller to ensure the system stability is designed to achieve human robot interaction in the target area of compliance. The collision avoidance prediction model is constructed by the distance of collision and the time of collision, and the correlation model between the radius of obstacle and the safety index of collision avoidance is established to realize the real time change of the radius of obstacle. Experimental results show the experimental results show that the proposed method can perform target area tracking effectively and makes the human computer interaction compliance, the obstacle avoidance process is efficient and smooth.