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工作空间是机器人的一个重要运动学指标,对工作空间进行分析是手术机器人结构优化和手术规划的重要环节。首先应用蒙特卡罗法求解得到了工作空间点云;采用按角度划分法对工作空间点云进行了边界提取;基于所提取的边界点,运用Alpha Shapes算法对工作空间进行了三维重建。相比传统工作空间曲面求解方法,该算法可以通过调整参数来适应不同类型的工作空间,具有很好的精度和通用性。最后运用数值积分方法求解出了工作空间体积,为机器人实施手术奠定了基础。
The work space is an important kinematic index of the robot. Analysis of the work space is an important part of the surgical robot structure optimization and surgical planning. At first, Monte Carlo method is used to solve the problem of point cloud in work space. The method of angle division is used to extract boundary cloud of work space. Based on the extracted boundary points, the workspace is reconstructed with Alpha Shapes algorithm. Compared with the traditional workspace solution method, this algorithm can adapt to different types of workspace by adjusting the parameters, which has good accuracy and versatility. Finally, numerical integration method is used to solve the problem of workspace volume, which lays the foundation for robotic surgery.