Surgical Robot Control Based on Torque Control Method

DOI

10.2991/icimm-15.2015.309How to use a DOI?

Keywords

Surgical Robot; Torque control; Adaptive control

Abstract

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.

Copyright

© 2015, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Bin Zhao
AU  - Xusheng Shi
PY  - 2015/07
DA  - 2015/07
TI  - Surgical Robot Control Based on Torque Control Method
BT  - Proceedings of the 5th International Conference on Information Engineering for Mechanics and Materials
PB  - Atlantis Press
SP  - 1667
EP  - 1670
SN  - 2352-5401
UR  - https://doi.org/10.2991/icimm-15.2015.309
DO  - 10.2991/icimm-15.2015.309
ID  - Zhao2015/07
ER  -