TY - GEN
T1 - An Autonomous Obstacle Avoidance Method for Dual-Arm Surgical Robot Based on the Improved Artificial Potential Field Method
AU - Chen, Qiao
AU - Liu, Yiwei
AU - Wang, Peng
N1 - Publisher Copyright:
© 2022, The Author(s), under exclusive license to Springer Nature Switzerland AG.
PY - 2022
Y1 - 2022
N2 - Most surgical robots adopt a simple master-slave control method, and their forms are transitioning from non-autonomous to semi-autonomous states. Motion planning and obstacle avoidance are essential research directions. In this regard, an obstacle avoidance method for a dual-arm surgical robot based on an improved artificial potential field is proposed. First, improve the artificial potential field method. Considering the working posture of the dual-arm surgical robot in the limited workspace, respectively apply the gravitational potential field and the repulsive potential field to each joint to achieve precise control. Secondly, in terms of collision detection, use the convex hull algorithm to convex the model, and use the GJK algorithm to calculate the distance between the obstacle and the equivalent convex body of the manipulator. The distance threshold can be manually set to alert when a collision is imminent. Besides, the motion is steady by using the adaptive step size. An improved splicing path method is proposed to make the manipulator jump out of the local minimum and improve the planning efficiency. Finally, smooth the resulting path and ensure the manipulator doesn’t collide. Experiments show that this study can make the dual-arm surgical robot move relatively smoothly on avoiding obstacles, which provides a reference for the automation of surgical robots.
AB - Most surgical robots adopt a simple master-slave control method, and their forms are transitioning from non-autonomous to semi-autonomous states. Motion planning and obstacle avoidance are essential research directions. In this regard, an obstacle avoidance method for a dual-arm surgical robot based on an improved artificial potential field is proposed. First, improve the artificial potential field method. Considering the working posture of the dual-arm surgical robot in the limited workspace, respectively apply the gravitational potential field and the repulsive potential field to each joint to achieve precise control. Secondly, in terms of collision detection, use the convex hull algorithm to convex the model, and use the GJK algorithm to calculate the distance between the obstacle and the equivalent convex body of the manipulator. The distance threshold can be manually set to alert when a collision is imminent. Besides, the motion is steady by using the adaptive step size. An improved splicing path method is proposed to make the manipulator jump out of the local minimum and improve the planning efficiency. Finally, smooth the resulting path and ensure the manipulator doesn’t collide. Experiments show that this study can make the dual-arm surgical robot move relatively smoothly on avoiding obstacles, which provides a reference for the automation of surgical robots.
KW - Artificial potential field method
KW - Dual-arm
KW - Obstacle avoidance
KW - Surgical robot
UR - https://www.scopus.com/pages/publications/85136974483
U2 - 10.1007/978-3-031-13841-6_45
DO - 10.1007/978-3-031-13841-6_45
M3 - 会议稿件
AN - SCOPUS:85136974483
SN - 9783031138409
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 496
EP - 508
BT - Intelligent Robotics and Applications - 15th International Conference, ICIRA 2022, Proceedings
A2 - Liu, Honghai
A2 - Ren, Weihong
A2 - Yin, Zhouping
A2 - Liu, Lianqing
A2 - Jiang, Li
A2 - Gu, Guoying
A2 - Wu, Xinyu
PB - Springer Science and Business Media Deutschland GmbH
T2 - 15th International Conference on Intelligent Robotics and Applications, ICIRA 2022
Y2 - 1 August 2022 through 3 August 2022
ER -