基于拓扑模型的打结操作规划  

Planning for knot-tying manipulation based on topological model

作　　者：王哲[1] 杨洋[1] 康天瑞[1] 

机构地区：[1]北京航空航天大学机械工程及自动化学院,北京100191

出　　处：《高技术通讯》2010年第10期1086-1090,共5页Chinese High Technology Letters

基　　金：国家自然科学基金(50675008)资助项目

摘　　要：通过分析线结的形成过程,提出了一种针对机器人进行缝线打结的操作规划方法。首先,建立缝线的拓扑学模型,将线结的状态描述为一系列交叉点的有序排列,然后,定义四种基本操作模式以及操作器对缝线的抓持点及移动方向,从而通过实现四种基本操作模式来得到缝线从最初状态到目标线结所有可能的转换序列,进而,以抓持点数目最小、状态转换路径最短及抓持点变化次数最少为原则,从初始状态到目标状态的所有操作序列中选择最优的操作方法。以一个外科手术单结的操作规划为例,说明这种规划方法的可行性。A planning program for robots＇ knot-tying is proposed by analyzing the formation of knots. Firstly, the topological model of sutures is built up, and the states of sutures are represented as finite permutations of crossing points. Then, four basic transitions among the topological states are defined, and a method for determination of grasping points and their moving directions is proposed. So, possible sequences of crossing state transitions, that is, possible manipulation pro- cesses from an initial state to a given objective state, can be generated. Thirdly, a criterion of the smallest number of grasping points, the shortest state transition path as well as the least times of change of grasping points is introduced in order to find the optimal plan. The planning of a surgical knot is given as an example to indicate the feasibility of the planning program.

关 键 词：打结 操作 拓扑模型 规划方法 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]