Title :
Compliant comanipulation control for medical robotics
Author :
Sousa, Cristóvão ; Cortesão, Rui ; Queirós, Pedro
Author_Institution :
Electr. & Comput. Eng. Dept., Univ. of Coimbra, Coimbra
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;
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
DOI :
10.1109/HSI.2009.5090990
