Surgical Robot Control Based on Torque Control Method

被引：0
|
作者：
Zhao, Bin [1 ]
Shi, Xusheng [2 ]
机构：
[1] Beihang Univ, Sch Automat Sci & Elect Engn, Beijing 100191, Peoples R China
[2] Beihang Univ, Dept Ind & Mfg Syst Engn, Adv Mfg Technol & Syst Res Ctr, Beijing 100191, Peoples R China
来源：
PROCEEDINGS OF THE 5TH INTERNATIONAL CONFERENCE ON INFORMATION ENGINEERING FOR MECHANICS AND MATERIALS | 2015年 / 21卷
关键词：
Surgical Robot; Torque control; Adaptive control;
D O I：
暂无
中图分类号：
T [工业技术];
学科分类号：
08 ;
摘要：
Surgical robots are usually controlled by the method of the independent PD or the PD model based on gravity compensation. However, the system is still a open loop control with both of the control models. The two models can not consider the dynamics effectively either. The position error can not be guaranteed. To solve the problem, a torque control model based on dynamic model and adaptive model is proposed. And the position tolerance of PD control based on gravity compensation and that of control based on Torque Control stability theory are compared by Matlab software. The maximal tolerance of the new method is red robot end-effector is 0.15mm.
引用
收藏
页码：1667 / 1670
页数：4
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