Pub Date : 2016-04-22DOI: 10.1109/AMC.2016.7496346
Masaru Saito, J. Ishikawa
This paper proposes a bilateral control system for master-slave devices using a compliant mechanism that allows an operator to finely handle an object when the stiffness of the object varies from low (soft) to high (hard). The proposed system consists of a two-stage series-elastic actuator (SEA) that has two springs with different stiffness. In the proposed system, a force control system, which controls the displacement of the springs so as to control the force applied to the environment, is implemented. The softer spring in the SEA mainly works when the applied force is small, and as the force becomes larger, the two-stage mechanism seamlessly changes to a single one so that the harder spring can mainly function. By structuring a force projection type bilateral control using the proposed SEA, high transparency is achieved even if the handled object is soft or hard. To show the validity of the proposed system, experiments were conducted to measure frequency responses of environmental mechanical impedance that the operator feels at the master side. The experimental results showed that the proposed two-stage SEA system achieved higher transparency than that of a single SEA case.
{"title":"Bilateral control using two-stage series-elastic actuator","authors":"Masaru Saito, J. Ishikawa","doi":"10.1109/AMC.2016.7496346","DOIUrl":"https://doi.org/10.1109/AMC.2016.7496346","url":null,"abstract":"This paper proposes a bilateral control system for master-slave devices using a compliant mechanism that allows an operator to finely handle an object when the stiffness of the object varies from low (soft) to high (hard). The proposed system consists of a two-stage series-elastic actuator (SEA) that has two springs with different stiffness. In the proposed system, a force control system, which controls the displacement of the springs so as to control the force applied to the environment, is implemented. The softer spring in the SEA mainly works when the applied force is small, and as the force becomes larger, the two-stage mechanism seamlessly changes to a single one so that the harder spring can mainly function. By structuring a force projection type bilateral control using the proposed SEA, high transparency is achieved even if the handled object is soft or hard. To show the validity of the proposed system, experiments were conducted to measure frequency responses of environmental mechanical impedance that the operator feels at the master side. The experimental results showed that the proposed two-stage SEA system achieved higher transparency than that of a single SEA case.","PeriodicalId":273847,"journal":{"name":"2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116054940","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-04-22DOI: 10.1109/AMC.2016.7496404
W. Ohnishi, H. Fujimoto, K. Sakata, Kazuhiro Suzuki, K. Saiki
In a multi-input multi-output control system, coupling force between multiple axes can deteriorate control performance and stability. In this paper, a decoupling method utilizing a high-precision stage with multiple actuators is proposed. According to a model considering the misalignment between the center of gravity (CoG), the center of rotation (CoR), the actuation point, and the measurement point, the coupling characteristics from the translational force to the angle can be changed by varying the height of the actuation point. The model indicates that a CoR-driven method can suppress the coupling in the low frequency range and a CoG-driven method can suppress the coupling in the high frequency range. This paper proposes a CoR and CoG hybrid-driven method using complementary filters to place the actuation point at the CoR and the CoG in low and high frequency ranges, respectively. The effectiveness of the proposed method is verified by experiments.
{"title":"Decoupling control by the center of rotation and gravity hybrid-driven method for high-precision scan stage with multiple actuators","authors":"W. Ohnishi, H. Fujimoto, K. Sakata, Kazuhiro Suzuki, K. Saiki","doi":"10.1109/AMC.2016.7496404","DOIUrl":"https://doi.org/10.1109/AMC.2016.7496404","url":null,"abstract":"In a multi-input multi-output control system, coupling force between multiple axes can deteriorate control performance and stability. In this paper, a decoupling method utilizing a high-precision stage with multiple actuators is proposed. According to a model considering the misalignment between the center of gravity (CoG), the center of rotation (CoR), the actuation point, and the measurement point, the coupling characteristics from the translational force to the angle can be changed by varying the height of the actuation point. The model indicates that a CoR-driven method can suppress the coupling in the low frequency range and a CoG-driven method can suppress the coupling in the high frequency range. This paper proposes a CoR and CoG hybrid-driven method using complementary filters to place the actuation point at the CoR and the CoG in low and high frequency ranges, respectively. The effectiveness of the proposed method is verified by experiments.","PeriodicalId":273847,"journal":{"name":"2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)","volume":"135 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115775115","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-04-22DOI: 10.1109/AMC.2016.7496365
Hiroaki Kuwahara, Fujio Terai, Michele Focchi, G. Medrano-Cerda, D. Caldwell, C. Semini
In this paper, a design method of a robust controller for hydraulic actuators is proposed. Generally speaking, the hydraulic actuator generates hydraulic force, and a load is driven by the hydraulic force. In order to control the hydraulic actuators, non-linearity caused by chamber pressures and natural feedback meaning the effect by the load velocity on the hydraulic pressure dynamics should be considered. A controller with feedback linearization is one of the methods to compensate the effects of the non-linearity and the natural feedback. However, since the method is based on the model parameters of the hydraulic actuator, the control performance is affected by modeling errors and modeling uncertainties. Therefore, a robust controller for the hydraulic actuator is proposed to complement the disadvantage of the conventional method. To design the proposed controller, a part of the feedback linearization, that is, pressure (nonlinearity) compensation is used to linearize the hydraulic pressure dynamics virtually. By using the virtually linearized hydraulic dynamics and the nominal mass, the nominal model of the hydraulic pressure and that of the load motion dynamics model are designed. Then, the effects which prevent each dynamics from behaving as the nominal models are defined as disturbances. In the proposed controller, two types of the observers are designed to compensate the disturbances. In this paper, the design details are shown and the validity of the proposed method is shown by simulation and experiments.
{"title":"A design method of a robust controller for hydraulic actuation with disturbance observers","authors":"Hiroaki Kuwahara, Fujio Terai, Michele Focchi, G. Medrano-Cerda, D. Caldwell, C. Semini","doi":"10.1109/AMC.2016.7496365","DOIUrl":"https://doi.org/10.1109/AMC.2016.7496365","url":null,"abstract":"In this paper, a design method of a robust controller for hydraulic actuators is proposed. Generally speaking, the hydraulic actuator generates hydraulic force, and a load is driven by the hydraulic force. In order to control the hydraulic actuators, non-linearity caused by chamber pressures and natural feedback meaning the effect by the load velocity on the hydraulic pressure dynamics should be considered. A controller with feedback linearization is one of the methods to compensate the effects of the non-linearity and the natural feedback. However, since the method is based on the model parameters of the hydraulic actuator, the control performance is affected by modeling errors and modeling uncertainties. Therefore, a robust controller for the hydraulic actuator is proposed to complement the disadvantage of the conventional method. To design the proposed controller, a part of the feedback linearization, that is, pressure (nonlinearity) compensation is used to linearize the hydraulic pressure dynamics virtually. By using the virtually linearized hydraulic dynamics and the nominal mass, the nominal model of the hydraulic pressure and that of the load motion dynamics model are designed. Then, the effects which prevent each dynamics from behaving as the nominal models are defined as disturbances. In the proposed controller, two types of the observers are designed to compensate the disturbances. In this paper, the design details are shown and the validity of the proposed method is shown by simulation and experiments.","PeriodicalId":273847,"journal":{"name":"2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)","volume":"875 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121031105","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-04-22DOI: 10.1109/AMC.2016.7496395
M. Tageldeen, I. Elamvazuthi, P. Nallagownden
The increasing aging and disabled population has necessitated for a more effective and efficient assistance and rehabilitation. Powered Exoskeletons are wearable robots that can be attached to the disabled limb with the goal of adding power to and rectifying the limb functionality. This research proposes an EMG-based upper limb exoskeleton that is built on a fuzzy controller with incorporation of a torque estimation correction technique to improve the fuzzy system estimation. The Exoskeleton is built with an interactive gaming interface to engage the patients in the rehabilitation process where the interface can be preset on medical supervision for different training patterns. The motion control of multiple input rehabilitation wearable exoskeleton using fuzzy logic and PID is discussed in the paper.
{"title":"Motion control for a multiple input rehabilitation wearable exoskeleton using fuzzy logic and PID","authors":"M. Tageldeen, I. Elamvazuthi, P. Nallagownden","doi":"10.1109/AMC.2016.7496395","DOIUrl":"https://doi.org/10.1109/AMC.2016.7496395","url":null,"abstract":"The increasing aging and disabled population has necessitated for a more effective and efficient assistance and rehabilitation. Powered Exoskeletons are wearable robots that can be attached to the disabled limb with the goal of adding power to and rectifying the limb functionality. This research proposes an EMG-based upper limb exoskeleton that is built on a fuzzy controller with incorporation of a torque estimation correction technique to improve the fuzzy system estimation. The Exoskeleton is built with an interactive gaming interface to engage the patients in the rehabilitation process where the interface can be preset on medical supervision for different training patterns. The motion control of multiple input rehabilitation wearable exoskeleton using fuzzy logic and PID is discussed in the paper.","PeriodicalId":273847,"journal":{"name":"2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125888217","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-04-22DOI: 10.1109/AMC.2016.7496408
Bernard Huggins
Plant equipment in primary industries are the subject of ongoing routine inspections. These inspections are required to ensure compliance with national legislation, international standards, and to adhere to industry best practice. This is of particular importance in the oil and gas industry, where there is significant potential for health and safety and environmental hazards, and a zero tolerance culture towards their occurrence. These important inspections can call for significant manpower, time, and financial investment, in order to provide the necessary assurance. They can also present hazardous and onerous working conditions, which can result in serious injury. There is an opportunity to advance this area of the oil and gas industry, by providing automated inspection solutions. Using off the shelf displacement sensors, together with a bespoke electronics arrangement, the solution discussed in the current paper has been developed, integrated, and tested, to provide real time feedback on pipe diameter distortions, indicating equipment end of life. This adds to the range of cover for an existing and well used testing regime. In doing so, it has eliminated weeks of manual work from each inspection, saving significant amounts of money, and making the inspection exercise safer and easier to conduct.
{"title":"Automation of plant inspection in primary industry","authors":"Bernard Huggins","doi":"10.1109/AMC.2016.7496408","DOIUrl":"https://doi.org/10.1109/AMC.2016.7496408","url":null,"abstract":"Plant equipment in primary industries are the subject of ongoing routine inspections. These inspections are required to ensure compliance with national legislation, international standards, and to adhere to industry best practice. This is of particular importance in the oil and gas industry, where there is significant potential for health and safety and environmental hazards, and a zero tolerance culture towards their occurrence. These important inspections can call for significant manpower, time, and financial investment, in order to provide the necessary assurance. They can also present hazardous and onerous working conditions, which can result in serious injury. There is an opportunity to advance this area of the oil and gas industry, by providing automated inspection solutions. Using off the shelf displacement sensors, together with a bespoke electronics arrangement, the solution discussed in the current paper has been developed, integrated, and tested, to provide real time feedback on pipe diameter distortions, indicating equipment end of life. This adds to the range of cover for an existing and well used testing regime. In doing so, it has eliminated weeks of manual work from each inspection, saving significant amounts of money, and making the inspection exercise safer and easier to conduct.","PeriodicalId":273847,"journal":{"name":"2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121732297","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-04-22DOI: 10.1109/AMC.2016.7496382
Yuto Hirabayashi, Kunihiro Ogata, Yuri Hasegawa, T. Tsuji
Hemiplegia is the lingering effect after a stroke and causes varying impairments. The ability to generate and modulate force is frequently impaired. This study focuses on a rehabilitation technique that encourages force generation in an arbitrary direction. The authors introduced a physiotherapy technique into a rehabilitation robot. Force visualization was provided as a feedback strategy to facilitate motor learning. The technique was verified with a patient clinically diagnosed with hemiplegia. The results suggested significant improvements in the motor function in a short period of time. It was concluded that the recovery of force modulation and improved motor control in the performance of a reaching task correlated with the training. This paper discusses the contribution of force visualization to motor function.
{"title":"Consideration of force visualization for hemiplegia based on a force direction teaching system","authors":"Yuto Hirabayashi, Kunihiro Ogata, Yuri Hasegawa, T. Tsuji","doi":"10.1109/AMC.2016.7496382","DOIUrl":"https://doi.org/10.1109/AMC.2016.7496382","url":null,"abstract":"Hemiplegia is the lingering effect after a stroke and causes varying impairments. The ability to generate and modulate force is frequently impaired. This study focuses on a rehabilitation technique that encourages force generation in an arbitrary direction. The authors introduced a physiotherapy technique into a rehabilitation robot. Force visualization was provided as a feedback strategy to facilitate motor learning. The technique was verified with a patient clinically diagnosed with hemiplegia. The results suggested significant improvements in the motor function in a short period of time. It was concluded that the recovery of force modulation and improved motor control in the performance of a reaching task correlated with the training. This paper discusses the contribution of force visualization to motor function.","PeriodicalId":273847,"journal":{"name":"2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131189451","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-04-22DOI: 10.1109/AMC.2016.7496339
Christian Scheifele, A. Lechler, Christian Daniel, Weiliang Xu
In this paper a solution is presented, which extends the network of non-real-time-capable ROS nodes (Robot Operating System) by a modular network of configurable and real-time-capable blocks with control and path planning functionalities. By means of this solution, ROS can be coupled with real-time algorithms from the field of industrial path planning controls, such as spline interpolation (e.g. Akima, B-spline). Furthermore, the real-time network can communicate directly with industrial hardware via real-time bus protocols established in the industrial automation technology. The available engineering-tool allows to model the real-time network in a user-friendly way. Custom real-time blocks can be generated from C++ code.
{"title":"Real-time extension of ROS based on a network of modular blocks for highly precise motion generation","authors":"Christian Scheifele, A. Lechler, Christian Daniel, Weiliang Xu","doi":"10.1109/AMC.2016.7496339","DOIUrl":"https://doi.org/10.1109/AMC.2016.7496339","url":null,"abstract":"In this paper a solution is presented, which extends the network of non-real-time-capable ROS nodes (Robot Operating System) by a modular network of configurable and real-time-capable blocks with control and path planning functionalities. By means of this solution, ROS can be coupled with real-time algorithms from the field of industrial path planning controls, such as spline interpolation (e.g. Akima, B-spline). Furthermore, the real-time network can communicate directly with industrial hardware via real-time bus protocols established in the industrial automation technology. The available engineering-tool allows to model the real-time network in a user-friendly way. Custom real-time blocks can be generated from C++ code.","PeriodicalId":273847,"journal":{"name":"2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131046126","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-04-22DOI: 10.1109/AMC.2016.7496364
B. Xiao, Shen Yin, O. Kaynak, Huijun Gao
This paper investigates the problem of tracking control for robotic manipulations with high-accuracy guaranteed. Uncertain kinematics, unknown torques including unknown gravitational torque, unknown friction torque, and uncertain dynamics induced by uncertain moment of inertia and disturbance, are addressed. The approach is developed in the framework of observer-based control design. Two sliding mode observers are proposed to handle uncertain kinematics and to estimate unknown torques, respectively. Using the estimated information, a control law is then synthesized to guarantee that the desired trajectory can be followed after finite-time with zero tracking error. Experimental results are presented to show the performance of the proposed control approach.
{"title":"Observer-based control for robotic manipulations with uncertain kinematics and dynamics","authors":"B. Xiao, Shen Yin, O. Kaynak, Huijun Gao","doi":"10.1109/AMC.2016.7496364","DOIUrl":"https://doi.org/10.1109/AMC.2016.7496364","url":null,"abstract":"This paper investigates the problem of tracking control for robotic manipulations with high-accuracy guaranteed. Uncertain kinematics, unknown torques including unknown gravitational torque, unknown friction torque, and uncertain dynamics induced by uncertain moment of inertia and disturbance, are addressed. The approach is developed in the framework of observer-based control design. Two sliding mode observers are proposed to handle uncertain kinematics and to estimate unknown torques, respectively. Using the estimated information, a control law is then synthesized to guarantee that the desired trajectory can be followed after finite-time with zero tracking error. Experimental results are presented to show the performance of the proposed control approach.","PeriodicalId":273847,"journal":{"name":"2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129596411","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-04-22DOI: 10.1109/AMC.2016.7496359
G. Cao, E. Lai, F. Alam
Two main issues associated with Model Predictive Control (MPC) are learning the unknown dynamics of the system and handling model uncertainties. In this paper, unknown Linear Time-Varying (LTV) system with external noise is represented by using probabilistic Gaussian Process (GP) models. In this way, we can explicitly evaluate model uncertainties as variances. As a result, it is possible to directly take obtained variances into account when planing the policy. In addition, through using analytical gradients that are available during the GP modelling process, the optimization problem in GP based MPC can be solved faster. The performance of proposed approach is demonstrated by simulations on trajectory tracking problem of a LTV system.
{"title":"Gaussian Process based Model Predictive Control for Linear Time Varying systems","authors":"G. Cao, E. Lai, F. Alam","doi":"10.1109/AMC.2016.7496359","DOIUrl":"https://doi.org/10.1109/AMC.2016.7496359","url":null,"abstract":"Two main issues associated with Model Predictive Control (MPC) are learning the unknown dynamics of the system and handling model uncertainties. In this paper, unknown Linear Time-Varying (LTV) system with external noise is represented by using probabilistic Gaussian Process (GP) models. In this way, we can explicitly evaluate model uncertainties as variances. As a result, it is possible to directly take obtained variances into account when planing the policy. In addition, through using analytical gradients that are available during the GP modelling process, the optimization problem in GP based MPC can be solved faster. The performance of proposed approach is demonstrated by simulations on trajectory tracking problem of a LTV system.","PeriodicalId":273847,"journal":{"name":"2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129459542","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-04-22DOI: 10.1109/AMC.2016.7496394
T. Matsunaga, K. Ohnishi
This paper presents a exact kinematics of the five degrees of freedom (DoF) surgical robot derived by the geometrical relation of the structure. In laparoscopic surgery, there are some advantages for patients because incision on abdominal wall is small. However, laparoscopic surgery is difficult for surgeons. Therefore, surgical robots with have been studied and developed to support surgeons. Conventional surgical robots have high position accuracy to realize delicate tasks. On the other hand, the transmission of force sensation is inadequate. Force sensation is important information for safer operation. Therefore, a five DoF haptic surgical robot is developed to transmit force sensation to the operator. The mechanism of five DoF surgical robot is suitable for implementing four-channel bilateral control which is one of the methods to transmit force sensation. Particularly, link mechanisms convert the motion of actuators into pitch motion and yaw motion of the end-effector. To control pitch motion and yaw motion precisely, the kinematics of the five DoF surgical robot is necessary. Besides, there is geometrical interference between pitch angle and yaw angle. In this paper, the exact kinematics for the pitch motion and yaw motion is derived. The validity of the kinematics is verified by step response. Then, the performance of four-channel bilateral control with the exact kinematics is verified by the experiments.
{"title":"Exact kinematics for pitch motion and yaw motion of five degrees of freedom surgical robot","authors":"T. Matsunaga, K. Ohnishi","doi":"10.1109/AMC.2016.7496394","DOIUrl":"https://doi.org/10.1109/AMC.2016.7496394","url":null,"abstract":"This paper presents a exact kinematics of the five degrees of freedom (DoF) surgical robot derived by the geometrical relation of the structure. In laparoscopic surgery, there are some advantages for patients because incision on abdominal wall is small. However, laparoscopic surgery is difficult for surgeons. Therefore, surgical robots with have been studied and developed to support surgeons. Conventional surgical robots have high position accuracy to realize delicate tasks. On the other hand, the transmission of force sensation is inadequate. Force sensation is important information for safer operation. Therefore, a five DoF haptic surgical robot is developed to transmit force sensation to the operator. The mechanism of five DoF surgical robot is suitable for implementing four-channel bilateral control which is one of the methods to transmit force sensation. Particularly, link mechanisms convert the motion of actuators into pitch motion and yaw motion of the end-effector. To control pitch motion and yaw motion precisely, the kinematics of the five DoF surgical robot is necessary. Besides, there is geometrical interference between pitch angle and yaw angle. In this paper, the exact kinematics for the pitch motion and yaw motion is derived. The validity of the kinematics is verified by step response. Then, the performance of four-channel bilateral control with the exact kinematics is verified by the experiments.","PeriodicalId":273847,"journal":{"name":"2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)","volume":"188 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123470352","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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