Name
Title | ||
|---|---|---|
Dynamic modeling and trajectory tracking control for a 3-DOF instrument in minimally invasive surgery |
Abstract | ||
|---|---|---|
The trajectory tracking control of 3-DOF instrument is very important for master-slave control robotic-assisted minimally invasive surgery. In this paper, dynamic structure and equation of motion for the 3-DOF instrument was established to use the Euler-Lagrange method based on screw theory. A control scheme is designed based on the computed-torque controller and a RBF neural network based compensating controller, which makes full used of the model-based control approach and uses the RBF neural network controller to compensate for the 3-DOF instrument modeling uncertainties. Dynamic trajectory tracking control simulations are carried out on a 3-DOF instrument. The simulations results demonstrate validity of the derived model and show excellent tracking capability of the designed control scheme. |
Year | DOI | Venue |
|---|---|---|
2009 | 10.1109/ROBIO.2009.5420667 | ROBIO |
Keywords | Field | DocType |
medical robotics,screw theory,radial basis function networks,motion equation,euler lagrange method,neurocontrollers,robotic assisted minimally invasive surgery,control system synthesis,3-dof instrument,torque control,minimally invasive surgery,model-based control,trajectory tracking control,master-slave control,tracking,model-based control approach,rbf neural network controller,3-dof instrument modeling uncertainty,compensation,computed torque controller,dynamic modeling,compensating controller,position control,computed-torque controller,control scheme,modelling,surgery,dynamic trajectory tracking control,robot kinematics,trajectory,equation of motion,artificial neural networks,computational modeling | Control theory,Control theory,Robot kinematics,Control engineering,System dynamics,Engineering,Equations of motion,Neural network controller,Surgery,Artificial neural network,Trajectory,Screw theory | Conference |
ISBN | Citations | PageRank |
978-1-4244-4775-6 | 0 | 0.34 |
References | Authors | |
3 | 4 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Hongqiang Sang | 1 | 1 | 1.09 |
| Chao He | 2 | 0 | 0.34 |
| Jianmin Li | 3 | 1 | 3.81 |
| Lin'an Zhang | 4 | 2 | 1.53 |