End posture analysis and motion planning based on UR3 manipulator puncture navigation
10.3760/cma.j.cn121382-20200811-00202
- VernacularTitle:基于UR3机械臂穿刺导航的末端姿态分析与运动规划
- Author:
Wenlu ZHANG
1
;
Hong WANG
;
Chao LEI
;
Linlin WANG
;
Hong SHA
Author Information
1. 中国医学科学院 北京协和医学院生物医学工程研究所，天津 300192
- Keywords:
Mechanical arm;
Kinematics;
D-H method;
MATLAB;
Puncture device
- From:
International Journal of Biomedical Engineering
2021;44(2):95-100,112
- CountryChina
- Language:Chinese
-
Abstract:
Objective:To establish a motion planning method for avoiding singularities for manipulator-assisted puncture surgery navigation, and design the corresponding computer program.Methods:According to the actual operation and the need of clinicians, the puncture needle sleeve installed at the end of the UR3 robotic arm was designed, and the kinematics analysis and simulation verification of the robotic arm were performed. A calculation program for solving the movement pose when the puncture needle at the end of the robotic arm reaches the target position, and a motion planning program for avoiding singularities through small-angle rotation were programmed.Results:Six groups of joint angles were randomly selected, and the theoretical coordinates calculated by the program were compared with the actual coordinates. The result showed that the error between the theoretical value and the actual value was small, which proved the correctness of the kinematics model. In the verification experiment, 3 sets of initial poses at random were simulated, the best pose was obtained by the program. Then the pose was transmitted into the control system to control the movement of the robotic arm. The verification experiment results showed that the puncture needle can reach the target point, and the singularity can be effectively avoid by the small-angle rotation of the fixed central axis.Conclusions:The singular point avoidance method based on end posture rotation can effectively avoid the failure of initial target posture motion planning, and it has reference value for the application of manipulator in puncture surgery.
