Trajectory Correction Method of Motion Description Language of Vertebral Milling Robot based on Force Feedback
by Wei Ding 1 
, Zhaoming Liu 2, Hongwei Wang 2, Long Cui 2,* 
1 Shenyang Institute of engineering, Department of Communication, College of Automation, Shenyang, 110136, China
2 Shenyang Institute of Automation, Chinese Academy of Sciences, State Key Laboratory of Robotics, Shenyang, 110016, China
* Author to whom correspondence should be addressed.
Journal of Engineering Research and Sciences, Volume 1, Issue 10, Page # 26-35, 2022; DOI: 10.55708/js0110005
Keywords: Milling robot, Motion description language, Force feedback, Trajectory correction, Vertebral lamina milling
Received: 11 August 2022, Revised: 22 September 2022, Accepted: 26 September 2022, Published Online: 10 October 2022
APA Style
Ding, W., Liu, Z., Wang, H., & Cui, L. (2022b). Trajectory Correction Method of Motion Description Language of Vertebral Milling Robot based on Force Feedback. Journal of Engineering Research and Sciences, 1(10), 26–35. https://doi.org/10.55708/js0110005
Chicago/Turabian Style
Trajectory Correction Method of Motion Description Language of Vertebral Milling Robot based on Force Feedback.” Journal of Engineering Research and Sciences 1, no. 10 (October 1, 2022): 26–35. https://doi.org/10.55708/js0110005.
IEEE Style
W. Ding, Z. Liu, H. Wang, and L. Cui, “Trajectory Correction Method of Motion Description Language of Vertebral Milling Robot based on Force Feedback,” Journal of Engineering Research and Sciences, vol. 1, no. 10, pp. 26–35, Oct. 2022, doi: 10.55708/js0110005.
In the real-time control procession of the vertebral milling robot, there are problems such as heavy workload of the operator, long working time, operational tremble and complicated procession. In order to solve the clinical practical basic problems such as avoiding excessive milling and force perception control of vertebral milling robot, this paper proposes a method of trajectory correction of motion description language of milling robot based on force feedback. The task of trajectory correction of the milling robot oriented to force feedback, on the basis of ensuring the atom relationship of motion description language, defines seven motion atoms for the function of avoiding excessive milling during the actual operation of the milling robot. A milling robot experimental system is built with a force feedback control handle and a milling robot. Experiments are carried out on the trajectory correction method of the milling robot based on the motion description language. The experimental results verify the feasibility and effectiveness of this method. The innovation of this paper is reflected in the following two aspects. The use of force feedback to define and model motion description language atoms is an innovation, and the application of motion description language trajectory correction method to the field of vertebral milling robots is an application innovation.
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