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キーワード:
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要旨:
Surgical teleoperation systems are being increasingly
deployed. There are, however, remaining issues such as
nonlinear characteristics of the interaction between the
slave robot and soft tissues, and difficulty in employing
force sensors in the surgical end-effectors of the slave.
These issues make it difficult to offer a general
approach to designing the overall control structure.
This paper addresses these issues by proposing an
optimized controller which guarantees robust stability
and performance. The environment, i.e., soft tissues, is
characterized with the nonlinear Hunt-Crossley model.
The overall teleoperation system is modeled as a linear
parameter-varying system. A gain-scheduling control
scheme is adapted to design a performance-optimized
controller while guaranteeing robust stability. The
developed gain-scheduling control scheme shows good
tracking capacity and high transparency in varied
experimental conditions. Error of the transmitted
impedance is significantly lower compared to other
conventional control schemes for frequency band less
than 2 Hz which is frequently recommended for
surgical teleoperation.
