Research on force and position control performance of the tendon sheath system with time‐varying parameters and flexible robotic arms

摘要

BACKGROUND: The tendon-sheath-system (TSS) is an excellent medium for remote power transmission, which is widely used in laparoscopic surgery robots. Since the operation process requires the robot to move continuously, this time-varying characteristic further aggravates the force and position transmission loss caused by the nonlinear friction of TSS, which affects the control accuracy of the surgical robot. METHOD: A time-varying tendon-sheath transmission model (RT model) is proposed. A feedforward control system is designed to improve tendon-sheath transmission accuracy. Furthermore, a tendon-sheath transmission model with velocity characteristics (RV model) is established. RESULT: Force, position, and velocity experiments were carried out on the platform of TSS with a robotic arm. The results show that the R-square values of force and position compensation are at least 96.57% and 99.16%. CONCLUSION: The proposed RT and RV models are effective in compensating for the TSS transmission loss during the operation of the surgical robot.