采用拉格朗日方程和Stribeck摩擦模型，根据便携式手术机器人主手的杆件重力、各关节摩擦力、惯性力对术者真实力感知的影响，建立了含关节摩擦力的动力学模型。基于机器人主手动力学模型，分别建立重力、摩擦力和惯性力三项的补偿模型，通过分析机器人主手力补偿反馈和附加位移的产生原因及补偿原理，提出了相应的补偿反馈力和附加位移补偿方法。通过对初步研究结果进行对比试验，验证该力补偿控制方法可用以平衡主手因自身所带的重力、关节摩擦力和惯性力产生的影响，最终实现术者真实的力感知，提高手术操作精准性。
凌颢
,
王国慧
,
李政
,
李建民
,
易波
,
孔康
,
王树新
,
朱晒红
. 便携式手术机器人主手附加力位移补偿方法研究[J]. 机械工程学报, 2018
, 54(17)
: 62
-68
.
DOI: 10.3901/JME.2018.17.062
Based on the Lagrange equation and the Stribeck friction model, a complete dynamic model with joint friction is established according to the influence of the gravity of the rod, the joint friction force and the inertia force of the master manipulator on the perception of the true strength of the manipulator. The robot master manipulator dynamics model based on compensation model is established by gravity, friction and inertia force three, analysis of the robot master manipulator compensation feedback force and displacement of the cause and compensation principle, put forward the corresponding compensation feedback force and displacement compensation method. By comparing the clinical results of the preliminary study, it is verified that the force compensation control method can balance the gravity, joint friction and inertia force of the main hand, and ultimately realize the real force perception of the surgeon and improve the accuracy of the operation.
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