GPC vs H∞包含柔性的医疗机械臂快速视觉伺服控制

Proceedings of the 2005 IEEE International Conference on Robotics and Automation Pub Date : 2005-04-18 DOI:10.1109/ROBOT.2005.1570740

L. Cuvillon, E. Laroche, J. Gangloff, M. Mathelin

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引用次数: 21

摘要

本文研究了外科手术中具有补偿心脏运动灵活性的双连杆臂的快速视觉伺服。除了视觉伺服回路中使用的外部500 Hz摄像机外，没有其他传感器可以全局识别灵活性。所得到的模型在臂的工作位置周围是有效的，并且可以很容易地根据相机的新位置进行修改。实现了两种控制策略:广义预测控制(GPC)和H∞控制，以处理灵活性和实现高带宽。给出了仿真和实验结果，以便比较它们的效率。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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GPC versus H∞ Control for Fast Visual Servoing of a Medical Manipulator including Flexibilities

In this paper is considered fast visual servoing of a two-links arm including flexibilities for compensation of heart movements in surgery. The flexibilities are globally identified with no additional sensor than the external-500 Hz camera used in the visual servoing loop. The obtained model is valid around the working position of the arm and can be easily modified for new positions of the camera. Two control strategies to handle flexibilities and achieve high bandwidth are implemented: Generalized Predictive Control (GPC) and H∞ control. Simulation and experimental results are given allowing to compare their efficiencies.

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Proceedings of the 2005 IEEE International Conference on Robotics and Automation

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