郭崇滨, 郝矿荣, 丁永生. 微创手术机器人的力/位解耦协同智能控制[J]. 机器人, 2013, 35(1): 73-80. DOI: 10.3724/SP.J.1218.2013.00073
引用本文: 郭崇滨, 郝矿荣, 丁永生. 微创手术机器人的力/位解耦协同智能控制[J]. 机器人, 2013, 35(1): 73-80. DOI: 10.3724/SP.J.1218.2013.00073
GUO Chongbin, HAO Kuangrong, DIND Yongsheng. Decoupled and Coordinated Intelligent Force-position Control forMinimally Invasive Surgical Robot[J]. ROBOT, 2013, 35(1): 73-80. DOI: 10.3724/SP.J.1218.2013.00073
Citation: GUO Chongbin, HAO Kuangrong, DIND Yongsheng. Decoupled and Coordinated Intelligent Force-position Control forMinimally Invasive Surgical Robot[J]. ROBOT, 2013, 35(1): 73-80. DOI: 10.3724/SP.J.1218.2013.00073

微创手术机器人的力/位解耦协同智能控制

Decoupled and Coordinated Intelligent Force-position Control forMinimally Invasive Surgical Robot

  • 摘要: 为解决目前市场上可利用的微创手术机器人都不包含重要的触觉(力)反馈机制的问题,根据人体内部双边解耦协同的生理调控机制,结合微创手术机器人的控制特性,开发了一种新颖的力/位解耦协同控制策略,并设计相应的智能控制系统.通过4个3自由度触觉操纵器装置,对提出的智能控制系统性能进行了真实的实验验证.实验结果表明,提出的控制系统能够实现力/位信号的解耦与协同控制.操作者能够获得准确的力反馈信号,确保机器人和谐、平稳地完成任务.

     

    Abstract: In order to solve the problem that current commercially available minimally surgical robots do not include significant haptic (force) feedback mechanism, a novel decoupled and coordinated force-position control strategy with corresponding intelligent control system design is proposed based on bilateral decoupled and coordinated bio-regulation mechanism in human body, in which control features of minimally surgical robots are considered. Actual experiments are carried out with four 3-DOF (degree of freedom) haptic manipulators to illustrate the performance of the proposed intelligent controller system. The results indicate that the proposed control system can achieve decoupled and coordinated force-position control. The operator can get accurate force feedback to guarantee robot performing task harmoniously and stably.

     

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