| 基于计算力矩的微创手术机器人控制 |
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| 引用本文： | 刁燕,陈章平,罗华,吴应东. 基于计算力矩的微创手术机器人控制[J]. 控制工程, 2011, 18(5): 780-782 |
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| 作者姓名： | 刁燕 陈章平 罗华 吴应东 |
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| 作者单位： | 四川大学制造科学与工程学院,四川成都,610065 |
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| 基金项目： | 四川省科技厅科技支撑计划资助项目(07GG008-026) |
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| 摘 要： | 针对微创手术机器人通常采用的独立PD控制或基于重力补偿的PD控制,都必须预先设定好相应的PD常数,不能随刀具所受有效外载荷而进行自适应调节,从而影响了机器人的定位精度的问题.提出了一种基于计算力矩的控制模型,在拉格朗日动力学模型基础上引进控制量使机器人系统线性化,并且将静力学分析结果作为反馈信号,完成外载荷作用下的轨迹...
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| 关 键 词： | 手术机器人 自适应控制 计算力矩 |
Minimally Invasive Surgical Robot Control Based on Computing Torque |
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| DIAO Yan,CHEN Zhang-ping,LUO Hua,WU Ying-dong. Minimally Invasive Surgical Robot Control Based on Computing Torque[J]. Control Engineering of China, 2011, 18(5): 780-782 |
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| Authors: | DIAO Yan CHEN Zhang-ping LUO Hua WU Ying-dong |
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| Affiliation: | DIAO Yan,CHEN Zhang-ping,LUO Hua,WU Ying-dong(School of Manufacture Science and Engineering,Sichuan University,Chengdu 610065,China) |
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| Abstract: | Minimally invasive surgical robots are usually controlled by the method of independent PD or the PD model based on gravity compensation.However,both of ways require setting the constants of PD in advance,and the constants can't change adaptively with the external load which operation tool endures.So the positioning accuracy of robots is influenced.According to the problem,a control model based on computing torque was proposed.One control variable was introduced to linearize the system of robot based on lagr... |
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| Keywords: | surgical robot adaptive control computing torque |
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