| Citation: | CHEN Xiang, HUANG Long, YANG Yanget al. Gravity compensation of an intraocular surgery robot based on computed torque method[J]. Journal of Beijing University of Aeronautics and Astronautics, 2017, 43(6): 1231-1238. doi: 10.13700/j.bh.1001-5965.2016.0455(in Chinese)
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To improve the positioning accuracy and stability of an intraocular surgery robot which has a remote center of motion (RCM) mechanism, the coordinate system of the robot is established. Based on the equivalent system model, the instantaneous centroid position of model components is analyzed. The dynamic model of the robot system is built by using the Lagrange equation. On the basis of the dynamic model, the gravity compensation model is built by using computed torque method and it is simulated by using MATLAB/Simulink. Each joint motion response curve is compared between the independent proportional plus derivative(PD) control model and the gravity compensation model. The results of simulation show that the gravity compensation model can compensate the gravity effectively. The difference between response curve and expected curve of gravity compensation model is analyzed, which prove that the gravity compensation model has high precision and feasibility.
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