Parallel Force/Position Control of an Epicardial Parallel Wire Robot

被引：9

作者：

Costanza, Adam D. ^{[1
]}

Breault, Macauley S. ^{[2
]}

Wood, Nathan A. ^{[1
]}

Passineau, Michael J. ^{[3
]}

Moraca, Robert J. ^{[3
]}

Riviere, Cameron N. ^{[1
]}

机构：

[1] Carnegie Mellon Univ, Robot Inst, Pittsburgh, PA 15213 USA

[2] Muhlenberg Coll, Dept Math, Allentown, PA 18104 USA

[3] Allegheny Gen Hosp, Pittsburgh, PA 15212 USA

来源：

IEEE ROBOTICS AND AUTOMATION LETTERS | 2016年 / 1卷 / 02期

基金：

美国国家卫生研究院; 美国安德鲁·梅隆基金会;

关键词：

Force control; medical robotics and systems; organ-mounted robots; parallel robots;

D O I：

10.1109/LRA.2016.2530162

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

Gene therapies for heart failure have emerged in recent years, yet they lack an effective method for minimally invasive, uniform delivery. To address this need we developed a minimally invasive parallel wire robot for epicardial interventions. Accurate and safe interventions using this device require control of force in addition to injector position. Accounting for the nonidealities of the device design, however, yields nonlinear and underconstrained statics. This work solves these equations and demonstrates the efficacy of using this information in a parallel control scheme, which is shown to provide superior positioning compared to a position-only controller.

引用

页码：1186 / 1191

页数：6

共 50 条

[1] Parallel Position/Force Control of Epicardial Wire Robot Based on Ellipsoid Geodesy
Wilde, E.
Dan, S.
Wood, N. A.
Passineau, M. J.
Halbreiner, M. S.
Zenati, M. A.
Riviere, C. N.
[J]. 2019 INTERNATIONAL SYMPOSIUM ON MEDICAL ROBOTICS (ISMR), 2019,
[2] A Parallel Wire Robot for Epicardial Interventions
Costanza, Adam D.
Wood, Nathan A.
Passincau, Michael J.
Moraca, Robert J.
Bailey, Stephen H.
Yoshizumi, Tomo
Riviere, Cameron N.
[J]. 2014 36TH ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC), 2014, : 6155 - 6158
[3] Experimental Research on Force/Position Control of a Wire-Driven Parallel Rehabilitative Robot
Wang Ke Yi
Ma Fang Chao
Meng Hao
Zhang Li Xun
Liu Pan
[J]. APPLIED MECHANICS AND MECHANICAL ENGINEERING II, PTS 1 AND 2, 2012, 138-139 : 68 - +
[4] Intelligent strategy of force & position parallel control for a robot
Yin, YH
Zhu, JY
Wei, ZX
[J]. CIRP ANNALS 1997 MANUFACTURING TECHNOLOGY, VOLUME 46/1/1997: ANNALS OF THE INTERNATIONAL INSTITUTION FOR PRODUCTION ENGINEERING RESEARCH, 1997, 46 : 279 - 282
[5] Cable Tension Optimization for an Epicardial Parallel Wire Robot
Ladak, Aman
Hajjar, Roger J.
Murali, Srinivas
Michalek, Jeremy J.
Riviere, Cameron N.
[J]. JOURNAL OF MEDICAL DEVICES-TRANSACTIONS OF THE ASME, 2023, 17 (02):
[6] Dynamic Hybrid Position/Force Control for Parallel Robot Manipulators
Deng, Wenbin
Lee, Hyuk-Jin
Lee, Jeh-Won
[J]. ROMANSY 18: ROBOT DESIGN, DYNAMICS AND CONTROL, 2010, (524): : 57 - 64
[7] Position and Force Control of the CAPAMAN 2 bis Parallel Robot for Drilling Tasks
Briones, J. Antonio
Castillo, Eduardo
Carbone, Giuseppe
Ceccarelli, Marco
[J]. CERMA: 2009 ELECTRONICS ROBOTICS AND AUTOMOTIVE MECHANICS CONFERENCE, 2009, : 181 - +
[8] Parallel force/position controller with observer for robot manipulators
Siciliano, B
Villani, L
[J]. PROCEEDINGS OF THE 36TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-5, 1997, : 1335 - 1340
[9] Hybrid moment/position control of a parallel robot
Mohamed El Hossine Daachi
Brahim Achili
Boubaker Daachi
Yacine Amirat
Djamel Chikouche
[J]. International Journal of Control, Automation and Systems, 2012, 10 : 536 - 546
[10] Hybrid Moment/Position Control of a Parallel Robot
Daachi, Mohamed El Hossine
Achili, Brahim
Daachi, Boubaker
Amirat, Yacine
Chikouche, Djamel
[J]. INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS, 2012, 10 (03) : 536 - 546

← 1 2 3 4 5 →