Research on Collision Avoidance Control of Multi-Arm Medical Robot Based on C-Space

doi:10.1109/ACCESS.2020.2994304

CORC > 自动化研究所 > 中国科学院自动化研究所 > 复杂系统管理与控制国家重点实验室 > 先进机器人控制团队

	Research on Collision Avoidance Control of Multi-Arm Medical Robot Based on C-Space
	Zhao, Honghua 3; Zhao, Jian 3; Duan, Xingguang 1; Gong, Xuyin 3; Bian, Guibin 2
刊名	IEEE ACCESS
	2020
卷号	8 页码:93219-93229
关键词	Manipulators Collision avoidance Robot kinematics Path planning Bones Surgery C-space mapping collision avoidance control medical robot multi-arm robot path planning
ISSN号	2169-3536
DOI	10.1109/ACCESS.2020.2994304
通讯作者	Zhao, Honghua(me_zhaohh@ujn.edu.cn)
英文摘要	A multi-arm robot for mandible reconstruction assisted surgery is developed. It has three manipulators and eighteen degrees of freedom. In order to prevent the collision of the manipulator caused by the overlap of the motion space of the manipulator during the space positioning of the whole mandible reconstruction operation, a collision avoidance path planning method for manipulator based on C-space is proposed. In order to obtain the space non-interference posture of one manipulator, and the interference posture of the other manipulators is taken as the obstacle mapping in C-space to obtain the free space after removing obstacles. At the same time, combining with the space position of the system manipulator, the C-space mapping mathematical model of feature points and line segments is studied, and the mapping mathematical model of any point and line segment in the plane is obtained. By introducing admissibility proof lemma to weigh the evaluation function, the improved heuristic A & x002A; search algorithm is used to search the best path for collision avoidance. The collision avoidance experiment is carried out through simulation and robot platform, and finally the animal experiment is carried out. These experimental results verify the feasibility and validity of the collision avoidance path planning method for the space manipulator.
资助项目	National Key Research and Development Program of China[2018YFF01013402] ; Shandong Provincial Natural Science Foundation[ZR2018MF022] ; Shandong Provincial Key Project of Research and Development Plan[2018CXGC0901] ; Shandong Provincial Key Project of Research and Development Plan[2019QYTPY038] ; Major Scienti~c and Technological Innovation Projects of Shandong Province[2019JZZY010435]
WOS研究方向	Computer Science ; Engineering ; Telecommunications
语种	英语
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
WOS记录号	WOS:000541121800024
资助机构	National Key Research and Development Program of China ; Shandong Provincial Natural Science Foundation ; Shandong Provincial Key Project of Research and Development Plan ; Major Scienti~c and Technological Innovation Projects of Shandong Province
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/39930]
专题	自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队
通讯作者	Zhao, Honghua
作者单位	1.Beijing Inst Technol, Intelligent Robot Inst, Beijing 10081, Peoples R China 2.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 3.Univ Jinan, Sch Mech Engn, Jinan 250022, Peoples R China
推荐引用方式 GB/T 7714	Zhao, Honghua,Zhao, Jian,Duan, Xingguang,et al. Research on Collision Avoidance Control of Multi-Arm Medical Robot Based on C-Space[J]. IEEE ACCESS,2020,8:93219-93229.
APA	Zhao, Honghua,Zhao, Jian,Duan, Xingguang,Gong, Xuyin,&Bian, Guibin.(2020).Research on Collision Avoidance Control of Multi-Arm Medical Robot Based on C-Space.IEEE ACCESS,8,93219-93229.
MLA	Zhao, Honghua,et al."Research on Collision Avoidance Control of Multi-Arm Medical Robot Based on C-Space".IEEE ACCESS 8(2020):93219-93229.