CAJ | 학술논문

为提高七自由度手术机器人末端执行器空间圆弧作业任务的位姿轨迹精度，系统提出采用四元数代替原有的齐次坐标矩阵描述末端执行器的位置和姿态，并采用梯形速度规划生成平滑连续的位姿轨迹，实现等夹角姿态均匀渐变。以在研究的颅颌面七自由度冗余手术机器人为原型，通过三次B样条曲线对反解后的关节轨迹进行插值处理，生成各关节速度、加速度连续平滑的轨迹规划曲线。仿真结果表明，算法符合手术机器人的插补精度和连续性要求，具有实际推广价值。
위제고칠자유도수술궤기인말단집행기공간원호작업임무적위자궤적정도，계통제출채용사원수대체원유적제차좌표구진묘술말단집행기적위치화자태，병채용제형속도규화생성평활련속적위자궤적，실현등협각자태균균점변。이재연구적로합면칠자유도용여수술궤기인위원형，통과삼차B양조곡선대반해후적관절궤적진행삽치처리，생성각관절속도、가속도련속평활적궤적규화곡선。방진결과표명，산법부합수술궤기인적삽보정도화련속성요구，구유실제추엄개치。
To improve the arc traj ectory preci-sion of 7 DOF robot end effector passing the non collinear three points,this paper uses quater-nion to describe the position and posture of the end effector instead of the original homogeneous coor-dinate matrix,generates smooth continuous pose traj ectory by using trapezoidal velocity and realizes posture change gradually and linearly.Take the in research 7 DOF cranio maxillofacial surgical robot as the prototype,three B spine curve inter-polation was carried out on the inverse solution of joint trajectory,and generate continuous smooth velocity and acceleration curve of each joint.Simu-lation results showed that the proposed circular arc traj ectory algorithm conforms to the requirements of the interpolation precision and continuity of the robot,and can be applied to practical situation.