Abstract
The calculus is one of the common diseases with high incidence. The effective treatment method is extracorporeal ultrasonic lithotripsy. At present, it is low about the intelligent and automatic level of the lithotripter, and it has gradually failed to meet the treatment needs. The extracorporeal ultrasonic lithotripsy medical cooperative robot can solve such problems effectively, and it is equally critical for accurate modeling studies of dynamic models. Based on the previous research and experimental basis, this paper proposes a correction theory to improve the accuracy of the dynamic model for the model error in collaborative robot work. The study first establishes the dynamic model and the solid model of the collaborative robot and then subtracts the value of the dynamic model from the solid model to obtain the modified equation. Finally, the accuracy of the dynamic model is improved by modifying the equation. The experiments show that the kinetic model correction theory is effective and can improve the accuracy of the dynamic model modeling after the correction of the torque equation. The experiments show that the improved dynamic model theory is effective and can improve the modeling accuracy of the dynamic model after the correction of the torque equation. The modified equation has the best correction effect in the 5th degree polynomial and can be used for the extracorporeal ultrasonic lithotripsy medical cooperative robot control.
Highlights
In recent years, the research on medical collaborative robot has been in the ascendant and has gradually achieved good applications in the medical field
Zhang et al summarized the characteristics of the development of the medical robot industry, analyzed the characteristics of 63 mainstream medical robot enterprises, and comprehensively combed the overall pattern of medical robot development [1]. is provides a reference for what kind of robotic arm is used in this paper. erefore, the robot used in this paper is a collaborative robot
Faccio et al studied the comparison model of collaboration and traditional robot assembly and compared the differences between manual assembly and noncooperative automatic assembly [4], which provided a reference for researching cooperative robot to change probes
Summary
The research on medical collaborative robot has been in the ascendant and has gradually achieved good applications in the medical field. Faccio et al studied the comparison model of collaboration and traditional robot assembly and compared the differences between manual assembly and noncooperative automatic assembly [4], which provided a reference for researching cooperative robot to change probes. Is provides a new theoretical reference for dynamic collision detection of the extracorporeal ultrasonic lithotripsy robot He J studied the impedance adaptive control system of the variable-load dual-arm robot and proposed a double-loop impedance variable stiffness tracking control strategy. E method of decomposing the resultant force into internal force and external force is used to control the inner loop impedance and the outer loop impedance, respectively It solved the problem of stability control of two-arm cooperative grasping and object-to-environment exchange force [12], which provides a reference method for dynamic modeling and control of the extracorporeal ultrasonic lithotripsy robot. The parameters of the cooperative robot and joint are shown in Table 1. e experimental and solid modeling of this paper is based on these parameters
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