Establishing the Improved Dynamic Model for the Extracorporeal Ultrasonic Lithotripsy Medical Cooperative Robot

The calculus is one of the common diseases with high incidence. The effective treatment method is extracorporeal ultrasonic lithotripsy. At present, it is low about the intelligent and automatic level of the lithotripter, and it has gradually failed to meet the treatment needs. The extracorporeal ultrasonic lithotripsy medical cooperative robot can solve such problems effectively, and it is equally critical for accurate modeling studies of dynamic models. Based on the previous research and experimental basis, this paper proposes a correction theory to improve the accuracy of the dynamic model for the model error in collaborative robot work. The study first establishes the dynamic model and the solid model of the collaborative robot and then subtracts the value of the dynamic model from the solid model to obtain the modified equation. Finally, the accuracy of the dynamic model is improved by modifying the equation. The experiments show that the kinetic model correction theory is effective and can improve the accuracy of the dynamic model modeling after the correction of the torque equation. The experiments show that the improved dynamic model theory is effective and can improve the modeling accuracy of the dynamic model after the correction of the torque equation. The modified equation has the best correction effect in the 5th degree polynomial and can be used for the extracorporeal ultrasonic lithotripsy medical cooperative robot control.

[1]  He Liu,et al.  A pose/force symmetric coordination method for a redundant dual-arm robot , 2018, Assembly Automation.

[2]  Zhe Wang,et al.  Nonlinear dynamics and chaotic control of a flexible multibody system with uncertain joint clearance , 2016 .

[3]  Hao Guo,et al.  Research on the collaborative machining method for dual-robot mirror milling , 2018, The International Journal of Advanced Manufacturing Technology.

[4]  Sihong Zhu,et al.  A study on dynamics of flexible multi-link mechanism including joints with clearance and lubrication for ultra-precision presses , 2016 .

[5]  Xianmin Zhang,et al.  Error modelling and motion reliability analysis of a planar parallel manipulator with multiple uncertainties , 2018, Mechanism and Machine Theory.

[6]  Liang Gao,et al.  Dynamics modeling and smooth control of flexible robot joint , 2015, 2015 IEEE International Conference on Mechatronics and Automation (ICMA).

[7]  Saeid Nahavandi,et al.  Dynamic analysis of Hexarot: axis-symmetric parallel manipulator , 2017, Robotica.

[8]  Xin-Jun Liu,et al.  Evaluation of the power consumption of a high-speed parallel robot , 2018 .

[9]  Yanbo Wang,et al.  Robot Arm Dynamics Control Based on Deep Learning and Physical Simulation , 2018, 2018 37th Chinese Control Conference (CCC).

[10]  Chao Wu,et al.  Simulation platform for the underwater snake-like robot swimming based on Kane’s dynamic model and central pattern generator , 2014 .

[11]  Yangmin Li,et al.  Design and analysis of a novel 6-DOF redundant actuated parallel robot with compliant hinges for high precision positioning , 2010 .

[12]  Yangmin Li,et al.  A general model of a kind of parallel manipulator for active control based on KANE’s dynamics , 2008, APCCAS 2008 - 2008 IEEE Asia Pacific Conference on Circuits and Systems.

[13]  Yan Xuan-hui.  New Cooperative Multi-robot Path Planning Algorithm , 2013 .

[14]  Maurizio Faccio,et al.  Collaborative and traditional robotic assembly: a comparison model , 2019, The International Journal of Advanced Manufacturing Technology.

[15]  Ken Chen,et al.  Design of Direct Teaching Behavior of Collaborative Robot Based on Force Interaction , 2019, J. Intell. Robotic Syst..

[16]  Xu Zhang,et al.  Summary of Medical Robot Technology Development , 2018, 2018 IEEE International Conference on Mechatronics and Automation (ICMA).

[17]  Jing Na,et al.  Adaptive Parameter Estimation and Control Design for Robot Manipulators With Finite-Time Convergence , 2018, IEEE Transactions on Industrial Electronics.

[18]  Xiao Li,et al.  Establishing an Improved Kane Dynamic Model for the 7-DOF Reconfigurable Modular Robot , 2017 .

[19]  Andrea Maria Zanchettin,et al.  Collaborative Robots in the Workplace [From the Guest Editors] , 2018, IEEE Robotics Autom. Mag..

[20]  Yongsheng Li,et al.  Dynamic Simulation Analysis of Humanoid Robot Walking System Based on ADAMS , 2019 .

[21]  Adel M. Alimi,et al.  Lagrange Dynamic Modeling of a Multi-Fingered Robot Hand in Free Motion Considering the Coupling Dynamics , 2012 .

[22]  Ian D. Walker,et al.  A Comparison of Constant Curvature Forward Kinematics for Multisection Continuum Manipulators , 2018, 2018 Second IEEE International Conference on Robotic Computing (IRC).

[23]  Siddhartha S. Srinivasa,et al.  A Linear-Time Variational Integrator for Multibody Systems , 2016, WAFR.

[24]  James U. Korein,et al.  Robotics , 2018, IBM Syst. J..

[25]  Ke Yang,et al.  Dynamic model and CPG network generation of the underwater self-reconfigurable robot , 2016, Adv. Robotics.

[26]  Zhuming Bi,et al.  Robot Kinematics , 2008, Wiley Encyclopedia of Computer Science and Engineering.

[27]  Stefano Stramigioli,et al.  Development of a Safety- and Energy-Aware Impedance Controller for Collaborative Robots , 2018, IEEE Robotics and Automation Letters.

[28]  Yangmin Li,et al.  A general dynamics and control model of a class of multi-DOF manipulators for active vibration control , 2011 .

[29]  Shangjun Ma,et al.  Study on dynamic responses of planar multibody systems with dry revolute clearance joint: Numerical and experimental approaches , 2019, Journal of Sound and Vibration.