Research on Collision Avoidance Control of Multi-Arm Medical Robot Based on C-Space

doi:10.1109/ACCESS.2020.2994304

	Research on Collision Avoidance Control of Multi-Arm Medical Robot Based on C-Space
	Zhao, Honghua 1; Zhao, Jian 1; Duan, Xingguang 2; Gong, Xuyin 1; Bian, Guibin3
发表期刊	IEEE ACCESS
ISSN	2169-3536
	2020
卷号	8 页码:93219-93229
通讯作者	Zhao, Honghua(me_zhaohh@ujn.edu.cn)
摘要	A multi-arm robot for mandible reconstruction assisted surgery is developed. It has three manipulators and eighteen degrees of freedom. In order to prevent the collision of the manipulator caused by the overlap of the motion space of the manipulator during the space positioning of the whole mandible reconstruction operation, a collision avoidance path planning method for manipulator based on C-space is proposed. In order to obtain the space non-interference posture of one manipulator, and the interference posture of the other manipulators is taken as the obstacle mapping in C-space to obtain the free space after removing obstacles. At the same time, combining with the space position of the system manipulator, the C-space mapping mathematical model of feature points and line segments is studied, and the mapping mathematical model of any point and line segment in the plane is obtained. By introducing admissibility proof lemma to weigh the evaluation function, the improved heuristic A & x002A; search algorithm is used to search the best path for collision avoidance. The collision avoidance experiment is carried out through simulation and robot platform, and finally the animal experiment is carried out. These experimental results verify the feasibility and validity of the collision avoidance path planning method for the space manipulator.
关键词	Manipulators Collision avoidance Robot kinematics Path planning Bones Surgery C-space mapping collision avoidance control medical robot multi-arm robot path planning
DOI	10.1109/ACCESS.2020.2994304
收录类别	SCI
语种	英语
资助项目	National Key Research and Development Program of China[2018YFF01013402] ; Shandong Provincial Natural Science Foundation[ZR2018MF022] ; Shandong Provincial Key Project of Research and Development Plan[2018CXGC0901] ; Shandong Provincial Key Project of Research and Development Plan[2019QYTPY038] ; Major Scienti~c and Technological Innovation Projects of Shandong Province[2019JZZY010435]
项目资助者	National Key Research and Development Program of China ; Shandong Provincial Natural Science Foundation ; Shandong Provincial Key Project of Research and Development Plan ; Major Scienti~c and Technological Innovation Projects of Shandong Province
WOS研究方向	Computer Science ; Engineering ; Telecommunications
WOS类目	Computer Science, Information Systems ; Engineering, Electrical & Electronic ; Telecommunications
WOS记录号	WOS:000541121800024
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
引用统计	被引频次：3[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/39931
专题	复杂系统认知与决策实验室_先进机器人
通讯作者	Zhao, Honghua
作者单位	1.Univ Jinan, Sch Mech Engn, Jinan 250022, Peoples R China 2.Beijing Inst Technol, Intelligent Robot Inst, Beijing 10081, Peoples R China 3.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
推荐引用方式 GB/T 7714	Zhao, Honghua,Zhao, Jian,Duan, Xingguang,et al. Research on Collision Avoidance Control of Multi-Arm Medical Robot Based on C-Space[J]. IEEE ACCESS,2020,8:93219-93229.
APA	Zhao, Honghua,Zhao, Jian,Duan, Xingguang,Gong, Xuyin,&Bian, Guibin.(2020).Research on Collision Avoidance Control of Multi-Arm Medical Robot Based on C-Space.IEEE ACCESS,8,93219-93229.
MLA	Zhao, Honghua,et al."Research on Collision Avoidance Control of Multi-Arm Medical Robot Based on C-Space".IEEE ACCESS 8(2020):93219-93229.