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Method for controlling the motion of an underactuated joint of a surgical setup structure
Method for controlling the motion of an underactuated joint of a surgical setup structure
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机译：控制手术装置结构的欠驱动关节运动的方法
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摘要
A robot and / or surgical device, system, and method is configured to control kinematics of passive or underactuated joints by coordinated joint braking of underactuated joints simultaneously with driving of one or more driven joints. Dynamic linkage structure and associated control system. In one aspect, the method selectively brakes and puts the underactuated joint into the reference state to prevent passive joint movement away from the reference state until each of the subactuated joints of the plurality of manipulators is in its respective reference state. Driving the set-up structure by reciprocating and pivoting the orientation platform supporting the plurality of manipulators in the opposite direction while releasing the braking to facilitate the movement of the joint toward. In another aspect, a joint brake controller is provided that receives a motor torque input and converts the input to a brake control input by determining impulse applied variable braking to use up the impulse over time.
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