Dynamic Modeling and Trajectory Tracking Control for a 3-DOF Instrument in Minimally Invasive Surgery

摘要：

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.

作者: Hongqiang Sang Chao He Jianmin Li Lin’an Zhang

作者单位: Department of Mechanical Engineering Tianjin University,Tianjin,China Department of Mechanical Engineering Tianjin University ,Tianjin,China

会议类型: 国际会议

会议名称: 2009 IEEE International Conference on Robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

会议地点: 桂林

会议语种:英文

页码: 331-336

在线出版日期: 2009-12-19（万方平台首次上网日期，不代表论文的发表时间）