Evaluation of robot kinematic performance under motion constraints in a teleoperated robotic ultrasound system

IF 4.5 1区 工程技术 Q1 ENGINEERING, MECHANICAL
Kai Wu , Shaoxiong Feng , Hengyi An , Giuseppe Carbone , Weihua Li
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Abstract

In a teleoperated robotic ultrasound system based on serial robots, a doctor uses a master device to control a slave serial robot for performing ultrasound inspections on patients. To effectively detect organs deep beneath the skin, the robot's motion direction and velocity must be precisely controlled, where the translational or rotational motion is constrained to move separately. During the inspection, the target position and motion velocity need to be continuously synchronized between the master device and the serial robot to ensure optimal coordination. However, the kinematic performance of serial robots is inconsistent across the spatial workspace, leading to issues such as protective stops, velocity fluctuations, and tracking delay errors. This paper proposes an evaluation method for the kinematic performance of serial robots based on the maximum attainable velocity in any direction. An algorithm is described to determine the corresponding maximum achievable translational or rotational velocities when rotational or translational motion is constrained. Experimental results confirm the high accuracy of this algorithm. Consequently, further workspace analysis is conducted to inform the layout and velocity settings of the teleoperated robotic ultrasound system for practical applications.
遥操作机器人超声系统运动约束下的机器人运动学性能评价
在基于串行机器人的远程操作机器人超声系统中,医生使用主设备控制从串行机器人对患者进行超声检查。为了有效地检测皮肤深处的器官,机器人的运动方向和速度必须精确控制,其中平移或旋转运动被限制为单独移动。在检测过程中,需要在主设备和串行机器人之间不断同步目标位置和运动速度,以确保最佳协调。然而,串联机器人的运动性能在整个空间工作空间中是不一致的,导致诸如保护停止、速度波动和跟踪延迟误差等问题。提出了一种基于任意方向上最大可达速度的串联机器人运动性能评价方法。描述了当旋转或平移运动受到约束时,确定相应的可实现的最大平移或旋转速度的算法。实验结果表明,该算法具有较高的精度。因此,进行了进一步的工作空间分析,为实际应用的遥控机器人超声系统的布局和速度设置提供信息。
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来源期刊
Mechanism and Machine Theory
Mechanism and Machine Theory 工程技术-工程:机械
CiteScore
9.90
自引率
23.10%
发文量
450
审稿时长
20 days
期刊介绍: Mechanism and Machine Theory provides a medium of communication between engineers and scientists engaged in research and development within the fields of knowledge embraced by IFToMM, the International Federation for the Promotion of Mechanism and Machine Science, therefore affiliated with IFToMM as its official research journal. The main topics are: Design Theory and Methodology; Haptics and Human-Machine-Interfaces; Robotics, Mechatronics and Micro-Machines; Mechanisms, Mechanical Transmissions and Machines; Kinematics, Dynamics, and Control of Mechanical Systems; Applications to Bioengineering and Molecular Chemistry
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