メス操作バイラテラルマニピュレータの研究 : バイラテラル制御系の設計

概要

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The master-slave manipulator for surgical operation has been developed as an application of teleoperation. In this research, the master manipulator's positioning ability with PID controller has been estimated same as the slave one, the controller for bilateral manipulation has been designed for the intention of teleoperation system, and another controller instead of PID has been designed to improve the positioning ability. The bilateral controller is based on impedance control, and the controller for the improvement is based on type 1 digital optical control. As a result, it proved that the follow ability between master and slave with combination of impedance and optical controller is better than with that of impedance and PID. Moreover, force sensor is effective for manipulability in cutting motion. However, the vibration is generated in touching rigid body.
公益社団法人精密工学会の論文
1998-05-05