双引线驱动多控制器的调频速度控制

MHS'99. Proceedings of 1999 International Symposium on Micromechatronics and Human Science (Cat. No.99TH8478) Pub Date : 1999-11-23 DOI:10.1109/MHS.1999.819992

M. Nokata, K. Ikuta

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引用次数: 1

摘要

提出了一种超冗余主动内窥镜的新概念。这种用于微创手术的医疗工具被称为“超内窥镜”，由微型控制论致动器驱动。建立了考虑压电效应的控制器动力学模型，并对其性能进行了详细分析。在此基础上，提出了一种减少引线数量的新方法，并进行了实验验证。双引线调频速度控制(FMVC)是一种完善的模拟控制方法。

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Frequency modulation velocity control of multiple cybernetic actuators for two-lead-wire drive

A new concept for an active endoscope with hyper redundancy has been already proposed. This medical tool called "Hyper Endoscope" for minimally invasive surgery is driven by miniature cybernetic actuators. A dynamic model of the cybernetic actuator, taking into account its piezoelectric effect, is proposed and its detailed performance analyzed. Based on the result, a new technique to minimize the number of lead wires is proposed and verified experimentally. FMVC (Frequency Modulation Velocity Control) with two lead wires as an analog control method has been perfected.

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MHS'99. Proceedings of 1999 International Symposium on Micromechatronics and Human Science (Cat. No.99TH8478)

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