具有6自由度导纳控制的机器人协同操作:在质子治疗患者定位中的应用

2015 IEEE International Workshop on Advanced Robotics and its Social Impacts (ARSO) Pub Date : 2015-06-01 DOI:10.1109/ARSO.2015.7428220

Julien Baumeyer, P. Vieyres, S. Miossec, C. Novales, G. Poisson, Samuel Pinault

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引用次数: 11

摘要

这篇论文的重点是用手控制一个机器人，它携带一个躺在末端执行器末端的“沙发顶”上的病人。猎户座原型机是一个六自由度(DoF)机器人系统。机器人的控制是通过一个自制的协同操作的触觉装置来实现的，该装置位于沙发顶部下方，由一名辅助医疗助理操作。该装置使操作人员能够在确定的操作安全空间内移动患者躺卧的沙发顶部。在该机器人平台上实现了六自由度导纳控制算法。通过实验验证了机器人的协同操纵控制。为了观察质量-弹簧-阻尼器的等效特性，并验证所实现的导纳算法的有效性，对自适应导纳参数进行了调整。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Robotic co-manipulation with 6 DoF admittance control: Application to patient positioning in proton-therapy

The paper focuses on controlling by hand a robot carrying a patient lying down on a “couch top” located at the extremity of the end-effector. The Orion prototype, is a six Degree-of-Freedom (DoF) robotic system. The control of the robot is achieved through a home-made co-manipulated haptic device located under the couch top and operated by a paramedical assistant. This device enables the operator to move the couch top, on which the patient lies down, and within an identified operational safety space. The 6 DoF admittance control algorithm is implemented on this new robotic platform. An experimental validation has been carried out to validate the co-manipulation control of the robot. The adaptable admittance parameters have been tuned on several experiments in order to observe the mass-spring-damper equivalent behaviour and demonstrate the validity of the implemented admittance algorithm.

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来源期刊

2015 IEEE International Workshop on Advanced Robotics and its Social Impacts (ARSO)

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