论文标题
在存在有限扰动的情况下，设计对手术机器人的运动计划的整体动作设计逆动力控制器
Designing inverse dynamic controller with integral action for motion planning of surgical robot in the presence of bounded disturbances
论文作者
论文摘要
机器人腹腔镜Grasper是一种手术工具，具有最少的入侵。在这个机器人中，实现诸如精确跟踪，稳定性和干扰拒绝之类的目标非常重要。在本文中，将讨论腹腔镜机器人建模和模拟的阶段，并将解释为拟议的实用机器人选择适当材料的适当材料的原因。具有积分动作的反向动态控制器用于提高手术操纵器跟踪过程的准确性，以在存在震颤的情况下跟踪指定的参考信号，该震颤的存在被模型为恒定的界限干扰。基于干扰拒绝方案，构建了跟踪控制器，该跟踪控制器从Lyapunov的意义上渐近地稳定。结果表明，如何在适当的假设下；选定的方案成功地在非线性系统的输入下实现了干扰拒绝。计算机仿真结果表明，可以使用建议的控制器来实现准确的轨迹跟踪。
Robotic laparoscopic grasper is a surgical tool with minimal invasion. In this robot, achieve goals like precise tracking, stability and disturbance rejection are very important. In this paper, first the stages of modeling and simulating of laparoscopic robot will be discussed and the reasons for selecting the appropriate materials for different parts of proposed practical robot will be explained. Inverse dynamic controller with integral action is applied to improve the accuracy of tracking procedure for a surgical manipulator to track a specified reference signal in the presence of tremor that is modeled as constant bounded disturbance. Based on the disturbance rejection scheme, tracking controller is constructed which is asymptotically stabilizing in the sense of Lyapunov. It is shown that how under proper assumptions; the selected schemes succeed in achieving disturbance rejection at the input of a nonlinear system. Computer simulation results demonstrate that accurate trajectory tracking can be achieved by using the proposed controller.
