Knowledge Commons of Institute of Automation,CAS
Fuzzy Approximation-based Task-Space Control of Robot Manipulators With Remote Center of Motion Constraint | |
Hang Su1; Wen Qi1; Jiahao Chen2; Dandan Zhang3 | |
发表期刊 | IEEE Transactions on Fuzzy Systems |
ISSN | 1063-6706 |
2022 | |
卷号 | 30期号:6页码:1564-1573 |
文章类型 | 期刊论文 |
摘要 | The presence of unknown physical interaction between the patients' body and surgical tool in laparoscopic surgery requires a secure end-effector positioning while assuring a reliable constraint motion. In this work, a task-space control approach based on fuzzy approximation is proposed for a teleoperated surgery scenario utilizing a serial redundant robot manipulator (7 degrees of freedom), the motions of which are constrained with respect to a point known as remote center of motion (RCM). The dynamical uncertainties due to the physical interaction are considered and estimated to maintain operational accuracy by introducing the decoupled adaptive fuzzy approximation technique. Experiments verify the presented approach's effectiveness. Results indicate that with the proposed control method, the accuracy of the surgical operation is improved while the safety can be ensured for teleoperated surgery with RCM constraint. |
七大方向——子方向分类 | 智能机器人 |
国重实验室规划方向分类 | 实体人工智能系统决策-控制 |
文献类型 | 期刊论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/50907 |
专题 | 多模态人工智能系统全国重点实验室 |
通讯作者 | Wen Qi |
作者单位 | 1.Politecn Milan, Dipartimento Elettron Informaz & Bioingn, I-20133 Milan, Italy 2.Institute of Automation, Chinese Academy of Sciences 3.Imperial Coll London, Dept Elect & Elect Engn, London SW7 2BX, England |
推荐引用方式 GB/T 7714 | Hang Su,Wen Qi,Jiahao Chen,et al. Fuzzy Approximation-based Task-Space Control of Robot Manipulators With Remote Center of Motion Constraint[J]. IEEE Transactions on Fuzzy Systems,2022,30(6):1564-1573. |
APA | Hang Su,Wen Qi,Jiahao Chen,&Dandan Zhang.(2022).Fuzzy Approximation-based Task-Space Control of Robot Manipulators With Remote Center of Motion Constraint.IEEE Transactions on Fuzzy Systems,30(6),1564-1573. |
MLA | Hang Su,et al."Fuzzy Approximation-based Task-Space Control of Robot Manipulators With Remote Center of Motion Constraint".IEEE Transactions on Fuzzy Systems 30.6(2022):1564-1573. |
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