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中文摘要：
针对磁锚定手术机器人的同时具有转动关节和移动关节机械臂的运动特点,提出了一种基于图像的视觉伺服系统.首先建立了系统的成像模型,并求解出图像雅可比矩阵.然后建立了机器人的运动学模型,并求解出机器人雅可比矩阵.机器人在二维平面内运动,图像空间的维数与运动空间的维数相同,总的雅可比矩阵是非奇异的.为了简化视觉控制器的设计难度,反馈控制器采用PI图像控制器,同时还可克服系统的静差.最后对建立的视觉伺服系统进行Matlab仿真,结果验证了提出方案的可行性.
英文摘要：
According to the motion characteristics of the magnetic anchor surgical robot′s RP arm,an image-based visual servoing method was proposed.Firstly,the camera projection model of the system was established and the image Jacobian matrix was solved.Then,the kinematic model of the robot was established and the robotic Jacobian matrix was solved.Since the robot motion was in two-dimen-sional plane,the dimensions of the image space and the movement space were the same.So the total Jacobian matrix was nonsingular.In order to simplify the design difficulty of the vision controller,PI image controller was used as the feedback controller which can overcome the system static errors.Fi-nally simulation was provided to verify the effectiveness.
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