Nonlinear friction modelling and compensation control of hysteresis phenomena for a pair of tendon-sheath actuated surgical robots
Nonlinear friction modelling and compensation control of hysteresis phenomena for a pair of tendon-sheath actuated surgical robots
复制标题
DOI：
10.1016/j.ymssp.2015.01.001
复制
发表时间：
2015-08-01
影响因子：
8.4
通讯作者：
Phee, S. J.
中科院分区：
文献类型：
--
作者：
Do, T. N.;Tjahjowidodo, T.;Phee, S. J.
自然开口经腔内窥镜手术(NOTES)是一种特殊的手术方法，允许通过口腔、肛门和阴道等自然开口进行手术，而不会留下明显的疤痕。柔性腱鞘机构(TSM)因其结构重量轻、灵活性好、动力传递方便等优点，在这些系统中得到了广泛的应用。然而，非线性摩擦和间隙滞后给此类系统的控制带来了许多挑战；此外，它们不能提供触觉反馈来辅助外科医生操作系统。在本文中，我们提出了一种新的动态摩擦模型和一对TSM的间隙滞后非线性来处理这些问题。与文献中的现有方法不同，所提出的摩擦模型是光滑的，并且能够在系统静止或小运动时以接近零的速度捕捉力。该模型可以用来估计触觉反馈的摩擦力。为了改善系统的跟踪性能，将引入一个回差滞后模型，该模型可用于前馈控制器方案。该控制器涉及到逆滞后模型的简单计算。所提出的模型与结构无关，能够捕捉任意腱鞘形状的非线性。用一个典型的实验装置验证了所提出的模型，并演示了位置跟踪精度的提高以及在一对TSM从机械手的远端提供期望的力信息以用于触觉反馈给外科医生的可能性。(C)2015爱思唯尔有限公司。保留所有权利。
Natural Orifice Transluminal Endoscopic Surgery (NOTES) is a special method that allows surgical operations via natural orifices like mouth, anus, and vagina, without leaving visible scars. The use of flexible tendon-sheath mechanism (TSM) is common in these systems because of its light weight in structure, flexibility, and easy transmission of power. However, nonlinear friction and backlash hysteresis pose many challenges to control of such systems; in addition, they do not provide haptic feedback to assist the surgeon in the operation of the systems. In this paper, we propose a new dynamic friction model and backlash hysteresis nonlinearity for a pair of TSM to deal with these problems. The proposed friction model, unlike current approaches in the literature, is smooth and able to capture the force at near zero velocity when the system is stationary or operates at small motion. This model can be used to estimate the friction force for haptic feedback purpose. To improve the system tracking performances, a backlash hysteresis model will be introduced, which can be used in a feedforward controller scheme. The controller involves a simple computation of the inverse hysteresis model. The proposed models are configuration independent and able to capture the nonlinearities for arbitrary tendon-sheath shapes. A representative experimental setup is used to validate the proposed models and to demonstrate the improvement in position tracking accuracy and the possibility of providing desired force information at the distal end of a pair of TSM slave manipulator for haptic feedback to the surgeons. (C) 2015 Elsevier Ltd. All rights reserved.