US 12,734,673 B2Granted

Method and apparatus for controlling master-slave arm robot

AssigneeInnolcon Medical Technology (Suzhou) Co., Ltd.

InventorsYi Sun, Pengfei Zhong, Wei Luo

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Abstract

Embodiments of the present application provide a control method and device of a master-slave-manipulator robot. The method includes: after acquiring a mapped position and a starting motion parameter of the slave-manipulator motor for the current cycle, performing planning on a motion trajectory of the slave-manipulator motor for the current cycle and acquiring a maximum planning distance, and finally determining a value that may be prioritized among the mapped motion distance and the maximum planning distance as an actual distance that the slave-manipulator motor needs to move for the current cycle. In this way, it is possible to avoid the problem of an error warning of the motor due to exceeding of a limit of the slave-manipulator motor caused by the master manipulator being directly mapped to the slave-manipulator motor, so that an excessive acceleration and velocity during motion of the master manipulator motion may be decreased to an acceptable level of the slave-manipulator motor while it is ensured that the overall trajectory remains substantially unchanged, thus prolonging a service life of the slave-manipulator motor.

Claims22

Dependent claims

A control method of a master-slave-manipulator robot, characterized in that at least one slave-manipulator motor is provided on a slave manipulator of the master-slave-manipulator robot, and the method is used for controlling motion of the slave-manipulator motor and comprises:

acquiring a mapped position of the slave-manipulator motor for a current cycle, wherein the mapped position is used for indicating a number of mapped rotational pulses, which is acquired by direct mapping based on three-dimensional coordinates of a master manipulator of the master-slave-manipulator robot and a mechanical structure of the master-slave-manipulator robot, the three-dimensional coordinates of the master manipulator being acquired at a preset acquisition cycle, and the current cycle being any acquisition cycle;
acquiring a starting motion parameter of the slave-manipulator motor for the current cycle, the starting motion parameter comprising a starting velocity Vs and a starting acceleration As;
performing planning on a motion trajectory of the slave-manipulator motor for the current cycle based on the starting motion parameter;
acquiring a maximum planning distance Pcm of the slave-manipulator motor for the current cycle;
determining, as a target distance, a value that is able to be reached preferentially among a mapped motion distance and the maximum planning distance Pcm, from an actual position of the slave-manipulator motor for a previous cycle based on the starting motion parameter, wherein the mapped motion distance is a difference between the mapped position of the slave-manipulator motor for the current cycle and the actual position of the slave-manipulator motor for the previous cycle, the actual position being used for indicating a number of actual rotational pulses, and the previous cycle being a previous-one acquisition cycle of the current cycle;
and
determining, as an actual position of the slave-manipulator motor for the current cycle, a sum of the actual position of the slave-manipulator motor for a previous cycle and the target distance.

4 more elements

A control device of a master-slave-manipulator robot, characterized in that at least one slave-manipulator motor is provided on a slave manipulator of the master-slave-manipulator robot, the device is configured to control motion of the slave-manipulator motor and comprises:

a mapping position acquisition module configured for acquiring a mapping position of the slave-manipulator motor for a current cycle, wherein the mapping position is used for indicating a number of mapped rotational pulses, which is acquired by direct mapping based on three-dimensional coordinates of the master manipulator and a mechanical structure of the master-slave-manipulator robot, the three-dimensional coordinates of the master manipulator being acquired at a preset acquisition cycle, and the current cycle being any acquisition cycle;
a starting motion parameter acquisition module configured for acquiring a starting motion parameter of the slave-manipulator motor for the current cycle, the starting motion parameter comprising a starting velocity Vs and a starting acceleration As;
a motion planning module configured for performing planning on a motion trajectory of the slave-manipulator motor for the current cycle based on the starting motion parameter;
a maximum planning distance acquisition module configured for acquiring a maximum planning distance Pcm of the slave-manipulator motor for the current cycle;
a target distance determination module configured for determining, as a target distance, a value that is able to be reached preferentially among a mapped motion distance and the maximum planning distance Pcm, from an actual position of the slave-manipulator motor for a previous cycle based on the starting motion parameter, wherein the mapped motion distance is a difference between the mapped position of the slave-manipulator motor for the current cycle and the actual position of the slave-manipulator motor for the previous cycle, the actual position being used for indicating a number of actual rotational pulses, and the previous cycle being a previous-one acquisition cycle of the current cycle;
and
an actual position determination module configured for determining, as an actual position of the slave-manipulator motor for the current cycle, a sum of the actual position of the slave-manipulator motor for a previous cycle and the target distance.

4 more elements

Dependencies are inferred from the claim text.