Research on the Trajectory Planning of the Minimally Invasive Surgical Robot 6-DOF Manipulator

摘要

Due to the merit of stabilization and precision, robot is imported in the surgery operations of abdominal cavity, thoracic cavity etc. In order to strengthen the advantage of the minimally invasive surgical robot, the research is focused on the trajectory planning of the 6-DOF manipulator of the robot. The algorithm of the manipulator trajectory planning is proposed, and the curved track of the manipulator in the surgical procedures is fitted. Based on the algorithm, the curved track of the manipulator is planned using MATLAB. The simulation experiments and error analysis of position and posture show the correctness and feasibility of the algorithm of the manipulator trajectory planning. The theory lays the foundation for the experimental master-slave control of the manipulator.