计算机工程与应用2018，Vol.54Issue(1)：235-239,263,6.DOI:10.3778/j.issn.1002-8331.1606-0411
具有震颤抑制的微创机器人主从控制系统设计
Design of master-slave control system with vibration suppression for minimally invasive surgical robot
摘要
Abstract
A master-slave control system of the minimally invasive surgical robot is proposed for vibration suppression. The new Zero-Phase Filter(ZPF)and the Feed Forward PD(FFPD)algorithm are proposed, which aims to alleviate the physiological hand tremor and the"stick slip"behavior of salve manipulator, respectively. The new ZPF avoids the time delay which the traditional PD controller causes as well as the problem that conventional zero-phase filter cannot be used online, while the FFPD controller overcomes the disadvantage that the nonlinear friction torque exerts a negative effect on the performance of salve manipulator. Finally, simulations and experiments show that the method can effectively suppress the vibration phenomenon at the tip of surgical instrument.关键词
微创手术机器人/运动学/主从控制系统/零相位滤波/摩擦补偿Key words
minimally invasive surgical robot/kinematics/master-slave control system/zero-phase filter/friction com-pensation分类
信息技术与安全科学引用本文复制引用
杨铖浩,桑宏强,刘芬,贠今天,陈发..具有震颤抑制的微创机器人主从控制系统设计[J].计算机工程与应用,2018,54(1):235-239,263,6.基金项目
国家自然科学基金青年基金(No.51205287). （No.51205287）
