DYNAMIC COMPUTATION OF HAPTIC-ROBOT DEVICES FOR CONTROL OF A SURGICAL TRAINING SYSTEM

摘要

This paper presents a new control model of the haptic device for the closed loop teleoperation of a minimal surgery training system. Dynamics of a 6-DOF parallel haptic device is computed and compensated to make a decoupled linearization control model. In teleoperation system, the master is the 6-DOF haptic device and the slave is the 6-DOF serial robot. The master haptic device provides the trajectories for the slave serial robot through the operation of user’s hand on the steering handle while the slave robot sends feedback forces on its end effector to the master controller in order to generate forces/moments on the steering handle of haptic master. In this manner the user’s hand will feel the forces/moments as the same those of the robot end effector. The feeling force tracking performances of system can be improved by using dynamic compensation and decoupled linearization controller based on fuzzy PID algorithms. Experiment results indicate that the dynamic compensation and fuzzy control can improve the control performances effectively.