全自动内窥镜清洗机的机械手抗摆控制

Manipulator Anti-swing Control of Automatic Endoscope Cleaning Machine

摘要:

为满足当前大量的内镜临床手术需求，对内镜的清洗和消毒提出了更高的要求。而全自动内窥镜清洗机中受到物理结构的限制，因此将转运部件设计成特殊结构的机械手。针对其在移动过程中竖杆摆动的欠驱动问题，采用滑模控制的方法，抑制了因机械结构而引发的摆动，完成了快速定位和抗摆的目的。首先对机械手竖杆转动惯量不能忽略的特点建立了机械手系统的数学模型。根据位移和角度之间的耦合关系设计了滑模面和控制律。接着利用LaSalle不变性原理和Lyapunov方法证明系统有限时间抵达滑模面并最终渐近稳定，同时给出控制器参数的整定。最后实验结果表明机械手系统在控制器的作用下，实现了快速定位到指定位置且使竖杆的摆动幅度尽可能小的优越效果，对医疗设备的研制有应用价值。

Abstract:

In order to meet the large number of clinical requirements of endoscopic surgery, higher requirements are put forward for endoscopic cleaning and disinfection. The automatic endoscope cleaning machine is limited by the physical structure, so the transfer parts are designed into a special structure of the manipulator. In order to solve the underactuation problem caused by the swing of vertical rod in the process of moving, the sliding mode control method is adopted to restrain the swing caused by the mechanical structure, and achieve the purpose of fast positioning and anti-swing. Firstly, the mathematical model of the manipulator system is established for the characteristic that the moment of inertia of the vertical rod cannot be ignored. According to the coupling relation between displacement and Angle, the sliding surface and control rate are designed. Then it is proved by LaSalle invariance principle and Lyapunov method that the system reaches the sliding mode surface in finite time and finally becomes asymptotically stable, and the tuning of controller parameters is given. Finally, the experimental results show that the manipulator system, under the action of the controller, can realize the superior effect of fast positioning to the specified position and make the swing range of the vertical rod as small as possible, which has application value for the development of medical equipment.