利用人工势场的遥控机器人共享控制方法

IF 6.8 Q1 AUTOMATION & CONTROL SYSTEMS
Wenlei Qin, He Zhang, Zhibin Fan, Yanhe Zhu, Jie Zhao
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引用次数: 0

摘要

视网膜手术需要封闭的空间约束,以提高手术的安全性和成功率。本文为主从机器人系统提出了一种共享控制方法,利用基于新型势场函数的管状引导约束来优化外科医生的指令。在管内,吸引力约束会随着任务误差的增加而增强,并在管的边界接近无穷大。这确保了手术被限制在一个封闭的管状空间内。触觉反馈提供力的提示,让外科医生了解输入指令的可行性。理论推导证明,整个闭环系统是被动的。在眼科手术机器人平台上进行了两次模拟实验,以评估所提出方法的功能。实验结果表明,平移误差保持在预定值以下。此外,就任务准确性和效率而言,所提出的方法优于对比方法。
本文章由计算机程序翻译,如有差异,请以英文原文为准。

A Shared Control Method for Teleoperated Robot Using Artificial Potential Field

A Shared Control Method for Teleoperated Robot Using Artificial Potential Field

Retinal surgery requires enclosed spatial constraints to improve the safety and success of the surgery. Herein, a shared control method is proposed for master–slave robot systems, utilizing tubular guidance constraints based on a novel potential field function to optimize the commands of the surgeon. Within the tube, attractive constraints intensify with increasing task error and approach infinity at the boundary of the tube. This ensures that the surgery is confined within a closed tubular space. Haptic feedback provides force cues to inform the surgeon about the feasibility of the input commands. Theoretical derivations demonstrate that the entire closed-loop system is passive. Two simulation experiments are conducted on the ophthalmic surgery robot platform to evaluate the functionality of the proposed method. The experimental results indicate that translational errors are kept less than certain predefined values. Furthermore, the proposed method outperforms the comparison method in terms of task accuracy and efficiency.

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CiteScore
1.30
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