Dexterous Manipulation in Constrained Bilateral Teleoperation Using Controlled Supporting Point
Dexterous Manipulation in Constrained Bilateral Teleoperation Using Controlled Supporting Point
复制标题
DOI：
10.1109/tie.2007.892962
复制
发表时间：
2007-03
影响因子：
7.7
通讯作者：
Y. Matsumoto;S. Katsura;K. Ohnishi
中科院分区：
文献类型：
--
作者：
Y. Matsumoto;S. Katsura;K. Ohnishi
近年来，机器人设备在外科应用中的使用一直在增长。外科机器人开始在微创手术中得到应用。与机器人在外科手术中的许多应用有关的控制问题是相似的。在所有情况下，适应独特的特殊用途机械设计的能力以及限制末端执行器运动的能力都是重要的。传统上，运动约束是通过轴承、直线导轨等机械约束装置来实现的。提出了一种基于受控支撑点(CSP)的机器人运动控制方法。该方法是在不设置机械约束的情况下进行约束。该方法的优点不仅是简化了机械设备，而且消除了约束处的摩擦力。很容易将CSP设置在机械支撑点设置困难的位置。此外，还可以在线更改CSP。该方法对于曲面位置不断变化的物体尤其有效。将所提出的方法应用于六自由度机械手。数值计算和实验结果表明了该方法的可行性。
The use of robotic devices in surgical applications has been growing in recent years. Surgical robots are beginning to find applications in minimally invasive surgeries. The control issues pertaining to many of the applications of robotics to surgery are similar. In all cases, the ability to accommodate unique special-purpose mechanical designs is important, as is the ability to restrict the motions of the end-effector. Conventionally, motion constraint is attained by mechanical constraint equipments, such as bearing, linear guide, and so on. In this paper, robot motion control with a controlled supporting point (CSP) for operator aid is proposed. The method is to make the constraint without setting mechanical constraints. The merits of the proposed method are not only the simplification of mechanical equipments but also the deletion of friction at the constraint. It is easy to set the CSP at the position where the setting of mechanical supporting points is difficult. Furthermore, it is also possible to change the CSP online. This method is especially effective for the object whose position of surface is always changing. The proposed method is applied to six-degrees-of-freedom manipulators. The numerical and experimental results show the viability of the proposed method