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.
LING Hao
,
WANG Guohui
,
LI Zheng
,
LI Jianming
,
YI Bo
,
KONG Kang
,
WANG Shuxin
,
ZHU Shaihong
. Compensation Method of Main Force Additional Force of Portable Surgical[J]. Journal of Mechanical Engineering, 2018
, 54(17)
: 62
-68
.
DOI: 10.3901/JME.2018.17.062
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