A μ-Synthesis Based Control for Compliant Maneuvers

2006 ◽  
Vol 128 (4) ◽  
pp. 914-921
Author(s):  
Yutaka Uchimura ◽  
H. Kazerooni
Keyword(s):  
Control System ◽  
Force Feedback ◽  
Controller Design ◽  
Force Sensor ◽  
Force Estimation ◽  
Dexterous Manipulation ◽  
Human Dynamics ◽  
Physical Strength ◽  
Human Power ◽  
Central Control System

This paper deals with a system, which is subjected to very uncertain factors: human and environment. These independent uncertainties are dealt with explicitly on the framework of μ-synthesis. We also describe a controller design, which enables a robust force feedback without using a force sensor. The model of human dynamics, environments, and actuators are modeled associated with uncertainties described in the form of weighting functions. A controller is designed based on the μ-synthesis so that it maintains robust performance against uncertainties in both environment and human dynamics, which contributes to dexterous manipulation. The controller described here is implemented on the human power extender, which is worn by a human and amplifies the human’s physical strength, while the human’s intelligence remains as the central control system for manipulation. Experimental results conducted on the extender showed that the force estimation worked fine and the control system performed as desired.

Force Sensor for Laparoscopic Tool of RobIn Heart Robot

2013 ◽  
Vol 199 ◽  
pp. 309-314 ◽  
Author(s):  
Agnieszka Kobierska
Keyword(s):  
Control System ◽  
Force Feedback ◽  
Force Sensor ◽  
Fem Simulations ◽  
Actuation Force

The design of a force sensor prototype as an equipment of a control system with force feedback to be used in the RobInHeart [1,2, telemanipulator system is presented. The main problems with placing the sensor on the laparoscopic tool are discussed. The method of decoupling impact of the gripper actuation force from the measurement is described. Also, the results of computer FEM simulations are shown.

Constant Turning Force Adaptive Controller Design

1989 ◽  
Vol 111 (2) ◽  
pp. 125-132 ◽  
Author(s):  
Bor-Sen Chen ◽  
Yih-Fang Chang
Keyword(s):  
Control System ◽  
Force Feedback ◽  
Controller Design ◽  
Cutting Tools ◽  
Design Procedure ◽  
Adaptive Controller ◽  
Pi Controller ◽  
Cutting Process ◽  
Time Varying ◽  
Good Reliability

In the Constant Turning Force Adaptive Control system, the cutting process is nonlinear time-varying; besides, the stability cannot be assured by classical control theory since the cutting tools usually cut a workpiece at various cutting depths. In this paper, based on the small gain theorem, we propose a new method to design a PI controller with high robustness to stabilize the force feedback control system against the nonlinear time-varying gain perturbation in the cutting process. A simple design procedure will be presented and several illustrative simulation results are given. The practical experimental results of a converted lathe with the PI controller designed with this method also show a good robustness and good reliability.

A NOVEL CATHETER OPERATING SYSTEM WITH FORCE FEEDBACK FOR MEDICAL APPLICATIONS

2008 ◽  
Vol 05 (01) ◽  
pp. 83-92 ◽  
Author(s):  
JIAN WANG ◽  
SHUXIANG GUO ◽  
HIDEKAZU KONDO ◽  
JIAN GUO ◽  
TAKASHI TAMIYA
Keyword(s):  
Operating System ◽  
Control System ◽  
Force Feedback ◽  
Force Sensor ◽  
Medical Applications ◽  
Safe Operation ◽  
Simulation Experiments ◽  
Remote Control System ◽  
Micro Force Sensor ◽  
And Control

We developed a novel catheter operating system with an integrated force sensor for medical applications which included a highly precise master-slave remote control system. This paper explains the system design and control system in detail. As part of our research, we designed a micro force sensor and included it in the system to ensure safe operation in intravascular neurosurgery applications. We performed operation simulation experiments and analyzed the operating errors. The experimental results indicated that the proposed force sensor-based catheter operating system works well and can be controlled remotely, and the force feedback can effectively improve operability at an aneurysm.

scholarly journals Vision-Based Suture Tensile Force Estimation in Robotic Surgery

Sensors ◽  
2020 ◽  
Vol 21 (1) ◽  
pp. 110
Author(s):  
Won-Jo Jung ◽  
Kyung-Soo Kwak ◽  
Soo-Chul Lim
Keyword(s):  
Force Feedback ◽  
Short Term Memory ◽  
Tensile Force ◽  
Force Sensor ◽  
Interaction Force ◽  
Force Estimation ◽  
Training Experience ◽  
Pulling Force

Compared to laparoscopy, robotics-assisted minimally invasive surgery has the problem of an absence of force feedback, which is important to prevent a breakage of the suture. To overcome this problem, surgeons infer the suture force from their proprioception and 2D image by comparing them to the training experience. Based on this idea, a deep-learning-based method using a single image and robot position to estimate the tensile force of the sutures without a force sensor is proposed. A neural network structure with a modified Inception Resnet-V2 and Long Short Term Memory (LSTM) networks is used to estimate the suture pulling force. The feasibility of proposed network is verified using the generated DB, recording the interaction under the condition of two different artificial skins and two different situations (in vivo and in vitro) at 13 viewing angles of the images by changing the tool positions collected from the master-slave robotic system. From the evaluation conducted to show the feasibility of the interaction force estimation, the proposed learning models successfully estimated the tensile force at 10 unseen viewing angles during training.

Adaptive Controller Design of Pneumatic Teleoperation System

2015 ◽  
Author(s):  
Mohamad Anwar Baayoun ◽  
Naseem Daher ◽  
Matthias Liermann
Keyword(s):  
Adaptive Control ◽  
Force Feedback ◽  
Controller Design ◽  
Control Design ◽  
Force Sensor ◽  
Adaptive Controller ◽  
Physical Contact ◽  
Variable Environment ◽  
Linear Controller ◽  
Teleoperation System

This paper presents an adaptive control design of a pneumatic teleoperation system that could be useful for applications like MRI-guided surgery. The system under study is special because of its reduced number of components compared to other bilateral teleoperation systems, which reduces cost and complexity. The direct fluidic connection and the force feedback that is transferred to the human operator allow the operator to feel as if s/he were having physical contact with the environment without the need for a force sensor on the slave actuator. A simulation model that allows stability and transparency assessment is presented in detail. A linear controller is optimized for various operating remote environments via transparency assessment. The linear controller leads to good results for certain operating environments, but its tuning is dependent on the impedance characteristic of the environments both on the master and slave sides. Since the system must perform under parametric uncertainties on both sides of the teleoperator, an adaptive control scheme is developed. A self-tuning regulator is designed to allow the teleoperator to cope with a variable environment. The control design is validated in simulation and yielded satisfactory performance under multiple environment settings.

A Control Method for Robot Fingers with Three-Axis Force Sensor

2014 ◽  
Vol 614 ◽  
pp. 175-178
Author(s):  
Ming Hua Luo ◽  
Chun Wei Pan ◽  
Xiu Wen Yang ◽  
Xin Hua Luo
Keyword(s):  
Control System ◽  
Force Control ◽  
Force Feedback ◽  
Control Method ◽  
Dynamic Balance ◽  
Force Sensor ◽  
Robot Hand ◽  
Closed Loops ◽  
Force Control System ◽  
Grasping Force

This paper proposed a new grasping method for robot fingers with three-axis force sensors. When a robot hand with two fingers is grasping an object, such as an egg, two closed loops with negative feedback in force-control system are start. When grasping force of the two fingers are equal reference force, dynamic balance is reached. Once tiny sliding between egg and finger occurred, force feedback start immediately, dynamic balance is reached again. In this way, our robot hand can firmly grasps eggs, even if vibration added on the robot hand.

Path Tracking Controller Design of Automatic Guided Vehicle Based on Four-Wheeled Omnidirectional Motion Model

2020 ◽  
Vol 17 (2) ◽  
pp. 7996-8010
Author(s):  
X. Wu ◽  
Y. Yang
Keyword(s):  
Control System ◽  
Fuzzy Controller ◽  
Controller Design ◽  
Threshold Value ◽  
Position Angle ◽  
Path Tracking ◽  
Global Coordinate System ◽  
Automatic Guided Vehicle ◽  
Input Variables ◽  
Industrial Pc

This paper presents a new design of omnidirectional automatic guided vehicle based on a hub motor, and proposes a joint controller for path tracking. The proposed controller includes two parts: a fuzzy controller and a multi-step predictive optimal controller. Firstly, based on various steering conditions, the kinematics model of the whole vehicle and the pose (position, angle) model in the global coordinate system are introduced. Secondly, based on the modeling, the joint controller is designed. Lateral deviation and course deviation are used as the input variables of the control system, and the threshold value is switched according to the value of the input variable to realise the correction of the large range of posture deviation. Finally, the joint controller is implemented by using the industrial PC and the self-developed control system based on the Freescale minimum system. Path tracking experiments were made under the straight and circular paths to test the ability of the joint controller for reducing the pose deviation. The experimental results show that the designed guided vehicle has excellent ability to path tracking, which meets the design goals.

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