Robust Force Feedback Control of 5-DOF Haptic Device

摘要：

　　In virtual endoscopic surgery,the haptic sensation is very important because the surgeon depend more on feedback force than image in real endoscopic surgery.This paper introduced a haptic device which is designed fully in consistent with the sense of space of real endoscopic surgery.To attenuate the unmodeled disturbance caused by the parameter perturbation of the haptic device and the operator,and improve the robustness of the force feedback control system.The form of low pass filter of disturbance observer(DOB)is chosen to suppress the parameter perturbation and measurement noise in virtual endoscopic surgery.The simulation experiment results verify the feasibility.

关键词： Virtual endoscopic surgery Force feedback Disturbance observer

作者: Zhi Hu Ping Cai

作者单位: Department of Instrument Science and Engineering,Shanghai Jiao Tong University,200240

会议类型: 国际会议

会议名称: The 33th Chinese Control Conference第33届中国控制会议

会议地点: 南京

会议语种:英文

页码: 4417-4422

在线出版日期: 2014-07-28（万方平台首次上网日期，不代表论文的发表时间）