Design of Sliding Mode Tracking Control System for Radiograph Shooting Robot Based on Camera Vision Center Position

Traditional oral radiography is prone to problems such as image deviation caused by unstable instruments held by patients and inconsistent projection positions by doctors. In order to achieve high quality and stability of operation, a flexible intelligent medical robot control system has been designed. The radiation tube clamped on the robot can track the center position according to the camera's vision, completing image diagnosis and treatment tasks. To this end, an improved sliding mode tracking control method is proposed, which makes the robot system have good invariance and anti-interference performance. Establish a dynamic model based on the center position of camera vision. A mapping model between the control rate function and joint torque was established by combining the control algorithm with the hyperbolic tangent function. The traditional control algorithm has been optimized to allow the controlled system to move on the predetermined end trajectory of human tissue. Theoretical analysis shows that the control system converges asymptotically. The experimental results validate the effectiveness of the control strategy. It improves the efficiency of intelligent medical operations. Reduce the impact of subjective experiential factors. This in turn reduces the labor intensity of doctors.