论文标题
5 DOF手术机器人的机械结构和跟踪控制系统的设计
Design of mechanical structure and tracking control system for 5 DOF surgical robot
论文作者
论文摘要
在本文中，考虑了受外科医生手震颤影响的5 DOF手术机器人的跟踪控制问题。将讨论伸缩系统的奴隶子系统中机器人臂的机械建模和动态分析，并将解释为机器人选择适当材料的原因。该机器人需要根据患者身体组织的不确定特性来控制手术的主要部分。改进的基于不确定性观察者的基于Lyapunov的控制方法可用于提高手术操纵器跟踪程序的准确性，以在存在震颤的情况下跟踪指定的参考信号，该震颤的存在被建模为恒定界限的干扰。基于干扰拒绝方案，构建了跟踪控制器，这些控制器在Lyapunov的意义上渐近地稳定。使用PC接口实现了控制策略。计算机仿真结果表明，可以使用建议的控制器可以实现准确的轨迹跟踪。
In this paper, the tracking control problem for 5 DOF surgical robot which is affected by tremor of surgeons' hand is considered. Mechanical modeling and dynamic analysis of a robotic arm in slave subsystem of a telesurgery system will be discussed and the reasons for selecting the appropriate materials for different parts of robot will be explained. It would be required this robot, which will do the main part of the surgery, be controlled based on the uncertain properties of the tissues of patients body. Improved Lyapunov Based control method with uncertainty observer is applied to improve the accuracy of tracking procedure for a surgical manipulator to track a specified reference signal in the presence of tremor that is modeled as constant bounded disturbance. Based on the disturbance rejection scheme, tracking controllers are constructed which are asymptotically stabilizing in the sense of Lyapunov. The control strategy was implemented using a PC interface. Computer simulation results demonstrate that accurate trajectory tracking can be achieved by using the proposed controllers.
