Viscoelastic Model Based Force Tracking Control for Robotic-Assisted Surgery

Chao Liu 1 Pedro Moreira 1 Philippe Poignet 1
1 DEXTER - Conception et commande de robots pour la manipulation
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : Most traditional force control methods for robotic system are based on the assumption that the interaction model is purely elastic. However, in the scenario of robotic-assisted surgery, it has been shown that the interaction between robotic instrument and the soft human tissue exhibits much more complex behavior involving change rate of contact position and force etc. In this work, an adaptive force tracking control algorithm has been developed based on a viscoelastic model (Kelvin-Boltzmann) and it can online adapt to interaction model parameter estimation errors. Physiological motion of tissue is also considered in the control design. The force tracking error is guaranteed to converge asymptotically even with parameter mismatches in the interaction model. Simulation studies were carried out to show performance improvement of the developed adaptive force tracking control algorithm over control method without adaptation to model parameter uncertainties.
Type de document :
Communication dans un congrès
BioRob: Biomedical Robotics and Biomechatronics, Jun 2012, Roma, Italy. 5th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronic, pp.1199-1204, 2012
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-00757181
Contributeur : Chao Liu <>
Soumis le : lundi 26 novembre 2012 - 14:23:01
Dernière modification le : mercredi 5 septembre 2018 - 10:54:01

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  • HAL Id : lirmm-00757181, version 1

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DEXTER | LIRMM | MIPS | UNIV-MONTPELLIER

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Chao Liu, Pedro Moreira, Philippe Poignet. Viscoelastic Model Based Force Tracking Control for Robotic-Assisted Surgery. BioRob: Biomedical Robotics and Biomechatronics, Jun 2012, Roma, Italy. 5th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronic, pp.1199-1204, 2012. 〈lirmm-00757181〉

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