Haptic control of the master hand controller for a microsurgical telerobot system
Haptic control of the master hand controller for a microsurgical telerobot system
复制标题
显微外科远程机器人系统主手控制器的触觉控制
DOI：
10.1109/robot.1999.770357
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发表时间：
1999
期刊：
影响因子：
--
通讯作者：
H. Cho
中科院分区：
文献类型：
--
作者：
D. Kwon;Ki Young Woo;H. Cho
根据手术任务分析的结果，研制了显微手术遥操作机器人系统。该遥操作机器人系统由一个6自由度的并联微操作器和一个6自由度的力反馈主设备组成。主装置采用五杆并联机构，由谐波直流伺服电机驱动。所提出的6自由度主手控制器具有非线性耦合动力学和摩擦。由于干扰力，由于摩擦，重力和耦合惯性可以扭曲操作者的感知，干扰观测器被引入到操作空间中，并在显微手术主手控制器中实现。
A microsurgical telerobot system has been developed based on the results of the operation task analysis. The telerobot system is composed of a 6-DOF parallel micromanipulator attached to the macro-motion industrial robot and a 6-DOF force-reflecting haptic master device. The master device uses five-bar parallel mechanisms driven by harmonic DC servomotors. The proposed 6-DOF master hand controller has nonlinear coupled dynamics and friction. Since the disturbance force due to friction, gravity and coupled inertia can distort the operator's perception, a disturbance observer is introduced in the operational space and implemented in the microsurgery master hand controller.