GPC versus H ∞ Control for Fast Visual Servoing of a Medical Manipulator including Flexibilities

Author

Cuvillon, L. ; Laroche, E. ; Gangloff, J. ; de Mathelin, M.

Author_Institution

LSIIT, UMR CNRS 7005, University of Strasbourg Bd Sébastien Brant, F-67400, Illkirch, France, loic@eavr.u-strasbg.fr

fYear

2005

fDate

18-22 April 2005

Firstpage

4044

Lastpage

4049

Abstract

In this paper is considered fast visual servoing of a two-links arm including flexibilities for compensation of heart movements in surgery. The flexibilities are globally identified with no additional sensor than the external-500 Hz camera used in the visual servoing loop. The obtained model is valid around the working position of the arm and can be easily modified for new positions of the camera. Two control strategies to handle flexibilities and achieve high bandwidth are implemented: Generalized Predictive Control (GPC) and H∞ control. Simulation and experimental results are given allowing to compare their efficiencies.

Keywords

Flexible manipulator; H∞ control; Predictive control; Visual servoing; Application software; Bandwidth; Cameras; Heart; Manipulator dynamics; Medical robotics; Predictive control; Robot vision systems; Service robots; Visual servoing; Flexible manipulator; H∞ control; Predictive control; Visual servoing;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on

Conference_Location

Barcelona, Spain

Print_ISBN

0-7803-8914-X

Type

conf

DOI

10.1109/ROBOT.2005.1570740

Filename

1570740