Compliant comanipulation control for medical robotics

Author

Sousa, Cristóvão ; Cortesão, Rui ; Queirós, Pedro

Author_Institution

Electr. & Comput. Eng. Dept., Univ. of Coimbra, Coimbra

fYear

2009

fDate

21-23 May 2009

Firstpage

265

Lastpage

271

Abstract

This paper presents a compliant control architecture for comanipulation in the medical robotics field. The kinematics and dynamics models of robots are described and its linearization by non linear feedback is implemented. The impedance control concept is introduced and representation in arbitrary frames techniques are presented. Various virtual walls restrictions to the robot end-effector are made using a proportional/derivative controller and an active observer (AOB) impedance controller. Some practical analyses and conclusions are made.

Keywords

PD control; end effectors; feedback; manipulator dynamics; manipulator kinematics; medical robotics; nonlinear control systems; observers; active observer impedance control; compliant comanipulation control; medical robotics; nonlinear feedback; proportional/derivative controller; robot dynamics; robot end-effector; robot kinematics; virtual wall restriction; Force sensors; Impedance; Medical robotics; Rehabilitation robotics; Robot control; Robot sensing systems; Safety; Service robots; Surgery; Surges; Comanipulation; compliance; control; impedance; medical robotics;

fLanguage

English

Publisher

ieee

Conference_Titel

Human System Interactions, 2009. HSI '09. 2nd Conference on

Conference_Location

Catania

Print_ISBN

978-1-4244-3959-1

Electronic_ISBN

978-1-4244-3960-7

Type

conf

DOI

10.1109/HSI.2009.5090990

Filename

5090990