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- Title
Induced feedback force compensation strategy of master-slave minimal invasive surgical robotic system.
- Authors
YUN Jin-dan; LU Xiao-xuan; CONG Jing-de
- Abstract
In order to eliminate the impact of the induced feedback force due to the dynamic characteristics of the master manipulator on the transparency of the minimal invasive surgical robotic system, a dynamic model of the master manipulator (Phantom Desktop) including joint coupling friction forces was established according to Lagrangian theorem, and the relevant parameters of the master manipulator were obtained through parameters identification experiments. Based on the master-manipulator's dynamic model, the strategy of the induced feedback force compensation was proposed and a teleoperation experiment was performed. The experimental results showed that the induced feedback force model proposed can well describe the actual induced feedback force.
- Subjects
PARAMETER identification; IMAGING phantoms; ROBOTICS; SURGICAL robots; DYNAMIC models; REMOTE control; PSYCHOLOGICAL feedback; FRICTION
- Publication
Journal of Tiangong University, 2020, Vol 39, Issue 4, p66
- ISSN
1671-024X
- Publication type
Article
- DOI
10.3969/j.issn.1671-024x.2020.04.011