| 主操作手重力补偿下的时延控制 |
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| 引用本文： | 王宏民,吕雄飞,王茂生,苏凤武,康红明.主操作手重力补偿下的时延控制[J].黑龙江科技学院学报,2014(3):272-276. |
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| 作者姓名： | 王宏民 吕雄飞 王茂生 苏凤武 康红明 |
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| 作者单位： | [1]黑龙江科技大学电气与控制工程学院,哈尔滨150022 [2]黑龙江建筑职业技术学院机电工程技术学院,哈尔滨150025 |
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| 基金项目： | 黑龙江省教育厅科学技术研究项目（12541713;12541723） |
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| 摘 要： | 针对自主研制的应用于外科手术的三维力反馈型主操作手的重力补偿问题,对主操作端控制中产生的时延进行深入分析,利用多线程、多事件技术尽可能降低主操作端的时间时延。通过矢量分析的方法得到电机为平衡位置机构静力平衡所需的输出力矩。分别在ADMAS和MATLAB环境下,进行仿真对比分析。仿真结果验证了建立的系统动力学模型的正确性。该重力补偿方法可以满足主操作手的重力平衡要求。
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| 关 键 词： | 主端机器人 重力平衡 时延控制 外科手术 |
Time delay control with gravity compensation for master manipulator |
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| WANG Hongmin,LU Xiongfei,WANG Maosheng,SU Fengwu,KANG Hongming.Time delay control with gravity compensation for master manipulator[J].Journal of Heilongjiang Institute of Science and Technology,2014(3):272-276. |
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| Authors: | WANG Hongmin LU Xiongfei WANG Maosheng SU Fengwu KANG Hongming |
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| Institution: | 1. School of Electrical ＆ Control Engineering, Heilongjiang University of Science ＆ Technology, Harbin 150022, China; 2. College of Mechanical ＆ Electrical Engineering Technology, Heilongjiang College of Construction, Harbin 150025, China) |
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| Abstract: | This paper proposes a gravity compensation algorithm for three-dimensional force feedback manipulator, a self-designed approach used in surgical operation. The paper provides an in-depth analy- sis of time delay occurring in master operation control system and introduces the greatest reduction in time delay occurring master control system using multi-thread and muhi-event technology and a solution to the motor output torque for balancing the master gravity using vector analysis method. The simulation analysis conducted in ADMAS and MATLAB environment verifies the viability of system dynamics model and the method is adequate for gravity balance. |
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| Keywords: | master manipulator gravity compensation time delay surgical operation |
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