Deutsch
 
Hilfe Datenschutzhinweis Impressum
  DetailsucheBrowse

Datensatz

DATENSATZ AKTIONENEXPORT
Zur Ablage hinzufügen
  Lokale TagsFreigabegeschichteDetailsÜbersicht

Freigegeben
Konferenzbeitrag

Position-Position Control with Gain-Scheduling for Telesurgical Systems

MPG-Autoren
/persons/resource/persons84227

Son,  HI
Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society;
Max Planck Institute for Biological Cybernetics, Max Planck Society;

Externe Ressourcen

https://www.jstage.jst.go.jp/article/jsmeicam/2010.5/0/2010.5_283/_article
(Zusammenfassung)

Volltexte (beschränkter Zugriff)
Für Ihren IP-Bereich sind aktuell keine Volltexte freigegeben.
Volltexte (frei zugänglich)
Es sind keine frei zugänglichen Volltexte in PuRe verfügbar
Ergänzendes Material (frei zugänglich)
Es sind keine frei zugänglichen Ergänzenden Materialien verfügbar
Zitation

Cho, J., Son, H., Bhattacharjee, T., Lee, D., & Lee, D. (2010). Position-Position Control with Gain-Scheduling for Telesurgical Systems. In International Conference on Advanced Mechatronics: Toward Evolutionary Fusion of IT and Mechatronics (ICAM 2010) (pp. 283-288). Tokyo, Japan: Japan Society of Mechanical Engineers.


Zitierlink: https://hdl.handle.net/11858/00-001M-0000-0013-BDF0-F
Zusammenfassung
Surgical teleoperation systems are being increasingly deployed. There are, however, remaining issues such as nonlinear characteristics of the interaction between the
slave robot and soft tissues, and difficulty in employing
force sensors in the surgical end-effectors of the slave.
These issues make it difficult to offer a general
approach to designing the overall control structure.
This paper addresses these issues by proposing an
optimized controller which guarantees robust stability
and performance. The environment, i.e., soft tissues, is
characterized with the nonlinear Hunt-Crossley model.
The overall teleoperation system is modeled as a linear
parameter-varying system. A gain-scheduling control
scheme is adapted to design a performance-optimized
controller while guaranteeing robust stability. The
developed gain-scheduling control scheme shows good
tracking capacity and high transparency in varied
experimental conditions. Error of the transmitted
impedance is significantly lower compared to other
conventional control schemes for frequency band less
than 2 Hz which is frequently recommended for
surgical teleoperation.