Trajectory correction method of motion description language of vertebral milling robot based on force feedback

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 机器人学研究室

	Trajectory correction method of motion description language of vertebral milling robot based on force feedback
	DIng W(丁伟)2; Liu ZM(刘钊铭)1; Wang HW(王宏伟)1; Cui L(崔龙)1
	2021
会议日期	May 28-30, 2021
会议地点	Nanchang, China
关键词	milling robot motion description language force feedback trajectory correction vertebral lamina milling
页码	361-368
英文摘要	In the real-Time control procession of the vertebral milling robot, there are problems such as heavy workload of the operator, long working time, operational tremble and complicated procession. In order to solve the clinical practical basic problems such as avoiding excessive milling and force perception control of vertebral milling robot, this paper proposes a method of trajectory correction of motion description language of milling robot based on force feedback. The task of trajectory correction of the milling robot oriented to force feedback, on the basis of ensuring the atom relationship of motion description language, defines seven motion atoms for the function of avoiding excessive milling during the actual operation of the milling robot. A milling robot experimental system is built with a force feedback control handle and a milling robot. Experiments are carried out on the trajectory correction method of the milling robot based on the motion description language. The experimental results verify the feasibility and effectiveness of this method. The innovation of this paper is reflected in the following two aspects. The use of force feedback to define and model motion description language atoms is an innovation, and the application of motion description language trajectory correction method to the field of vertebral milling robots is an application innovation.
产权排序	2
会议录	Proceedings - 2021 36th Youth Academic Annual Conference of Chinese Association of Automation, YAC 2021
会议录出版者	IEEE
会议录出版地	New York
语种	英语
ISBN号	978-1-6654-3712-7
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/29411]
专题	沈阳自动化研究所_机器人学研究室
通讯作者	DIng W(丁伟)
作者单位	1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Shenyang, China 2.College of Automation, Shenyang Institute of Engineering, Shenyang, China
推荐引用方式 GB/T 7714	DIng W,Liu ZM,Wang HW,et al. Trajectory correction method of motion description language of vertebral milling robot based on force feedback[C]. 见:. Nanchang, China. May 28-30, 2021.