Optimization of fracture reduction robot controller based on improved sparrow algorithm

An，Baichuan1; Chen，Jianwen2; Sun，Hao1,3; Yin，Minghuan1; Song，Zicheng1; Zhuang，Chao1; Chang，Cheng1; Liu，Minghe1

2023-12-01

10.1016/j.birob.2023.100120

Biomimetic Intelligence and Robotics   影响因子和分区

2097-0242

2667-3797

The accuracy of a fracture reduction robot (FRR) is critical for ensuring the safety of surgery. Improving the repositioning accuracy of a FRR, reducing the error, and realizing a safer and more stable folding motion is critical. To achieve this, a sparrow search algorithm (SSA) based on the Levy flight operator was proposed in this study for self-tuning the robot controller parameters. An inverse kinematic analysis of the FRR was also performed. The robot dynamics model was established using Simulink, and the inverse dynamics controller for the fracture reduction mechanism was designed using the computed torque control method. Both simulation and physical experiments were also performed. The actual motion trajectory of the actuator drive rod and its error with a desired trajectory was obtained through simulation. An optimized Levy-sparrow search algorithm (Levy-SSA) crack reduction robot controller demonstrated an overall reduction of two orders of magnitude in the reduction error, with an average error reduction of 98.74% compared with the traditional unoptimized controller. The Levy-SSA increased the convergence of the crack reduction robot control system to the optimal solution, improved the accuracy of the motion trajectory, and exhibited important implications for robot controller optimization.

Fracture reduction robot Levy flight Reduction accuracy The sparrow search algorithm

EI

英语

其他

20234415001427

Controllers ; Cracks ; Errors ; Flight control systems ; Fracture ; Inverse kinematics ; Inverse problems ; Trajectories

Aircraft Instruments and Equipment:652.3 ; Control Systems:731.1 ; Robotics:731.5 ; Control Equipment:732.1 ; Mechanics:931.1 ; Materials Science:951

2-s2.0-85175321831

Scopus

1.School of Artificial Intelligence and Data Science,Hebei University of Technology,Tianjin,300401,China
2.Limb Deformity Correction and Function Reconstruction Department,Southern University of Science and Technology Hospital,Shenzhen,518000,China
3.Engineering Research Center of Intelligent Rehabilitation Device and Detection Technology,Ministry of Education,Tianjin,300401,China

An，Baichuan,Chen，Jianwen,Sun，Hao,et al. Optimization of fracture reduction robot controller based on improved sparrow algorithm[J]. Biomimetic Intelligence and Robotics,2023,3(4).

An，Baichuan.,Chen，Jianwen.,Sun，Hao.,Yin，Minghuan.,Song，Zicheng.,...&Liu，Minghe.(2023).Optimization of fracture reduction robot controller based on improved sparrow algorithm.Biomimetic Intelligence and Robotics,3(4).

An，Baichuan,et al."Optimization of fracture reduction robot controller based on improved sparrow algorithm".Biomimetic Intelligence and Robotics 3.4(2023).