Master-slave Real-time Control Algorithm for Abdominal Minimally Invasive Surgery Robot

摘要

Conducted a kinematic analysis for abdominal minimally invasive surgery robot based on D-H method.In order to solve the problem of low master-slave responsivity caused by the inverse kinematics transform motion model because of the existence of transcendental function and the presence of multiple solutions.Based on differential idea,replace the instantaneous velocity of time with a small displacement,a algorithm suitable for real-time master-slave surgical robot control is put forward,and the accumulated error of the algorithm is eliminated by feedback mechanism.