脉搏诊断机器人力反馈式位置跟随控制与仿真  

Force Feedback Position Following Control and Simulation of Pulse Diagnosis Robot

作　　者：刘群坡[1] 刘广辉 王海星[1] LIU Qun-po;LIU Guang-hui;WANG Hai-xing(School of Electrical Engineering and Automation,Henan Polytechnic University,Jiaozuo 454002,China)

机构地区：[1]河南理工大学电气工程与自动化学院,河南焦作454002

出　　处：《软件导刊》2021年第10期98-102,共5页Software Guide

基　　金：国家重点研发计划专项(2016YFC0600906);河南省高校科技创新团队项目(20IRTSTHN019);河南省创新型科技人才队伍建设工程项目(CXTD2016054);河南省科技攻关项目(172102210270)。

摘　　要：脉搏诊断过程中手臂的轻微晃动会造成脉搏位置点发生变化,影响脉搏信息获取的准确性。控制机器人带动脉搏传感器跟随脉搏点运动,并保持传感器中心与脉搏点接触,这对获取准确的脉搏信息至关重要。因此,提出一种基于压力反馈的跟随控制策略,采用安全性较高的协作式臂型机器人对人体脉搏进行诊断,并在V-REP仿真软件中进行实验。实验结果表明,基于该控制策略的机器人可在2s内调整传感器中心接触到脉搏点,控制策略可行,为下一步搭建实物建立了理论基础。The slight shaking of the arm will cause the pulse position to change during the pulse diagnosis process,which affects the accuracy of obtaining pulse information seriously.Control the robot with an arterial sensor to follow the pulse point and keep the center of the sensor in contact with the pulse point,which is essential for obtaining accurate pulse information.In this regard,a follow-up control strategy based on pressure feedback is proposed and tested in the V-REP simulation software.The results show that based on this control strategy,the robot can adjust the sensor center to the pulse point within 2s.The feasibility of the control strategy is verified at the minimum cost,and the theoretical pavement for the next step is to build the real object through the simulation experiment.

关 键 词：脉搏诊断 V-REP机器人仿真 压力反馈 跟踪控制 

分 类 号：TP301[自动化与计算机技术—计算机系统结构]