Bilateral control for remote controlled robotic forceps system with time varying delay
Bilateral control for remote controlled robotic forceps system with time varying delay
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DOI：
10.1109/hsi.2011.5937387
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发表时间：
2011-05
期刊：
影响因子：
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通讯作者：
C. Ishii;H. Mikami;T. Nakakuki;H. Hashimoto
中科院分区：
文献类型：
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作者：
C. Ishii;H. Mikami;T. Nakakuki;H. Hashimoto
最近，需要开发应用机器人技术的手术支持装置。我们开发了一种采用新型全向弯曲机构的多自由度机器人镊子操纵器，并且对于所开发的机器人镊子操纵器，我们提出了一种基于被动性的双边控制，该控制能够在位置跟踪和力跟踪中实现运动缩放，并保证远程操作系统在恒定时间延迟的情况下的稳定性。本文对基于无源性的双边控制进行了扩展，以保证遥操作系统不仅在存在恒定时延的情况下而且在存在时变时延的情况下也能保持稳定性。为了验证所提出的控制律的有效性，对所开发的机器人钳遥操作系统进行了实验工作。
Recently, development of the surgical support devices with the application of robot technology is in demand. We have developed a multi-DOF robotic forceps manipulator using a novel omnidirectional bending mechanism, and for the developed robotic forceps manipulator, we proposed a passivity based bilateral control that enables motion scaling in both position tracking and force tracking, and guarantees the stability of the teleoperation system in the presence of constant time delay, so far. In this paper, the passivity based bilateral control is extended so as to guarantee the stability of the teleoperation system not only in the presence of the constant time delay but also in the presence of the time varying delay. In order to verify the effectiveness of the proposed control law, experimental works were carried out for the developed robotic forceps teleoperation system.