Title :
Dynamic modeling and trajectory tracking control for a 3-DOF instrument in minimally invasive surgery
Author :
Sang, Hongqiang ; He, Chao ; Li, Jianmin ; Zhang, Lin´an
Author_Institution :
Dept. of Mech. Eng., Tianjin Univ., Tianjin, China
Abstract :
The trajectory tracking control of 3-DOF instrument is very important for master-slave control robotic-assisted minimally invasive surgery. In this paper, dynamic structure and equation of motion for the 3-DOF instrument was established to use the Euler-Lagrange method based on screw theory. A control scheme is designed based on the computed-torque controller and a RBF neural network based compensating controller, which makes full used of the model-based control approach and uses the RBF neural network controller to compensate for the 3-DOF instrument modeling uncertainties. Dynamic trajectory tracking control simulations are carried out on a 3-DOF instrument. The simulations results demonstrate validity of the derived model and show excellent tracking capability of the designed control scheme.
Keywords :
compensation; control system synthesis; medical robotics; modelling; neurocontrollers; position control; radial basis function networks; surgery; torque control; tracking; 3-DOF instrument; Euler Lagrange method; RBF neural network controller; compensating controller; computed torque controller; dynamic modeling; master-slave control; model-based control; motion equation; robotic assisted minimally invasive surgery; screw theory; trajectory tracking control; Computational modeling; Computer networks; Equations; Fasteners; Master-slave; Minimally invasive surgery; Neural networks; Robot control; Surgical instruments; Trajectory;
Conference_Titel :
Robotics and Biomimetics (ROBIO), 2009 IEEE International Conference on
Conference_Location :
Guilin
Print_ISBN :
978-1-4244-4774-9
Electronic_ISBN :
978-1-4244-4775-6
DOI :
10.1109/ROBIO.2009.5420667
