微型机与应用Issue(12)：73-75,3.
穿刺手术机器人遥操作系统的控制策略研究
Control strategy research of puncture surgery robotic teleoperation system
张忠林 1陈以 1俞益1
作者信息
- 1. 桂林电子科技大学 电子工程与自动化学院，广西 桂林 541004
- 折叠
摘要
Abstract
In this paper , a semi-physical simulation platform of robot teleoperation system is designed , and a combined control approach using Jacobian matrix and Proportional-Derivative ( PD ) algorithm is proposed . A digital low-pass filter is designed to elim-inate noise signal caused by hand-vibration of surgeons . The results of semi-physical simulation validated that the proposed ap-proach can achieve enough precise tracking for puncture surgery and noise cased by hand-vibration was eliminated effectively .关键词
主从控制/雅克比矩阵/PD 控制算法/抖动消除Key words
teleoperation/Jacobian Matrix/PD control algorithm/vibration elimination分类
计算机与自动化引用本文复制引用
张忠林,陈以,俞益..穿刺手术机器人遥操作系统的控制策略研究[J].微型机与应用,2014,(12):73-75,3.
