论文标题
机器人微创手术的阻抗控制设计的广义方法
A Generalized Approach to Impedance Control Design for Robotic Minimally Invasive Surgery
论文作者
论文摘要
基于能量的控制方法是现代机器人控制算法的核心。在本文中，我们提出了一种用于虚拟模型/机制控制的通用方法，该方法是创建基于能量控制器的强大设计工具。我们提出了针对机器人微创手术设计的两种新型虚拟机制，它们在通过切口时控制手术仪器的位置。对于这些虚拟机制，我们应用了Larby和Forni 2022的参数调整方法，该方法在确保全局稳定性的同时优化了本地性能。
Energy based control methods are at the core of modern robotic control algorithms. In this paper we present a general approach to virtual model/mechanism control, which is a powerful design tool to create energy based controllers. We present two novel virtual-mechanisms designed for robotic minimally invasive surgery, which control the position of a surgical instrument while passing through an incision. To these virtual mechanisms we apply the parameter tuning method of Larby and Forni 2022, which optimizes for local performance while ensuring global stability.
