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首页> 外文会议>RSI International Conference on Robotics and Mechatronics >Nonlinear adaptive impedance control of virtual tool-tissue interaction for use in endoscopic sinus surgery simulation system
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Nonlinear adaptive impedance control of virtual tool-tissue interaction for use in endoscopic sinus surgery simulation system

机译：用于内窥镜鼻窦手术模拟系统的虚拟工具-组织相互作用的非线性自适应阻抗控制

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In this article, a nonlinear adaptive impedance control strategy is proposed to adjust the impedance of a one-degree of freedom Falcon robot to a pre-defined nonlinear impedance which is an approximate mathematical representation of the sino-nasal tissue. Further developments can be used for a training simulator system for the otolaryngology surgery training purposes. The stability of the proposed control strategy and convergence of tracking error are proved by using Lyapunov Stability Theorem. Two different scenarios are considered for simulation studies including a declining contact force and also an oscillatory contact force between the user hand and the haptic interface device. Eventually, The proposed controller is compared to the impedance controller developed in [1]. Although both controllers show good tracking and convergence performance, our proposed controller requires less computational efforts and consequently lower time to accomplish the relevant simulations.
机译：在本文中，提出了一种非线性自适应阻抗控制策略，以将单自由度Falcon机器人的阻抗调整为预定的非线性阻抗，该非线性阻抗是鼻-鼻组织的近似数学表示。可以将进一步的发展用于训练模拟器系统，以进行耳鼻喉科手术训练。利用Lyapunov稳定性定理证明了所提出控制策略的稳定性和跟踪误差的收敛性。对于仿真研究，考虑了两种不同的情况，包括接触力下降以及用户手和触觉接口设备之间的振荡接触力。最终，将所提出的控制器与[1]中开发的阻抗控制器进行了比较。尽管两个控制器都显示出良好的跟踪和收敛性能，但我们提出的控制器需要较少的计算工作，因此需要较少的时间来完成相关的仿真。

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