DocumentCode :
2734108
Title :
Rate-dependent inverse hysteresis feedforward controller for microsurgical tool
Author :
Garmón, F. Alija ; Ang, W.T. ; Khosla, P.K. ; Riviere, C.N.
Author_Institution :
Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
Volume :
4
fYear :
2003
fDate :
17-21 Sept. 2003
Firstpage :
3415
Abstract :
This paper presents the development and initial results of a controller based on a novel rate-dependent hysteresis model. The controller has been developed for "Micron," a microsurgical instrument designed to sense and actively cancel tremor and other undesired motion during vitreoretinal intervention. To accomplish this, Micron uses a three-degree-of-freedom parallel manipulator with piezoelectric actuation. In order to achieve high accuracy it is necessary to deal with the hysteresis of the piezoelectric actuators. Most hysteresis models are based on elementary rate-independent operators and are not suitable for modeling actuator behavior across a wide frequency band. This work proposes a rate-dependent controller, based on a modification of the rate-independent Prandtl-Ishlinskii (PI) model, to counteract hysteresis during open-loop control of piezoelectric actuators tracking multifrequency motion profiles. In experiments tracking real tremor, it consistently outperforms its rate-independent counterpart.
Keywords :
biomedical equipment; controllers; eye; feedforward; hysteresis; open loop systems; piezoelectric actuators; surgery; tracking; Prandtl-Ishlinskii model; elementary rate-independent operators; feedforward controller; hysteresis; micron; microsurgical tool; multifrequency motion profile; open-loop control; parallel manipulator; piezoelectric actuators; rate-dependent controller; tracking; tremor; vitreoretinal intervention; Displacement control; Hysteresis; Instruments; Mathematical model; Microsurgery; Motion control; Open loop systems; Piezoelectric actuators; Robot sensing systems; Surgery;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Engineering in Medicine and Biology Society, 2003. Proceedings of the 25th Annual International Conference of the IEEE
ISSN :
1094-687X
Print_ISBN :
0-7803-7789-3
Type :
conf
DOI :
10.1109/IEMBS.2003.1280879
Filename :
1280879
Link To Document :
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