Title :
Compliance force control for Polish cardiosurgical manipulator RobIn Heart
Author :
Mazur, Alicja ; Podsedkowski, Leszek ; Szymanski, Andrzej ; Zawierucha, Marcin
Author_Institution :
Inst. of Comput. Eng., Control & Robot., Wroclaw Univ. of Technol., Wroclaw, Poland
Abstract :
In the paper hybrid control for Polish cardiosurgical robot RobIn Heart 3 has been presented. Classical position-force control with modification introduced by Fisher and Mujtaba has been simulated with dynamics model of this robot. It has been conducted extensive simulation study, which should give an answer to the question, if selected motion patterns, so-called “motion primitives”, could be prepared to support human reactions. Such patterns could give surgeon possibility to make a process of cutting or needling more precisely and with precise force of pressure. Simulation research has confirmed correctness of assumed control solution. It is a point of departure to practical implementation of such control scheme in robot RobIn Heart.
Keywords :
force control; manipulators; medical robotics; position control; Polish cardiosurgical manipulator; RobIn Heart 3; compliance force control; motion primitives; position-force control; surgeon possibility; Force; Force control; Heart; Jacobian matrices; Robot kinematics; Trajectory;
Conference_Titel :
Robot Motion and Control (RoMoCo), 2013 9th Workshop on
Conference_Location :
Kuslin
Print_ISBN :
978-1-4673-5510-0
DOI :
10.1109/RoMoCo.2013.6614590