期刊
IEEE SENSORS JOURNAL
卷 19, 期 13, 页码 5274-5284出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/JSEN.2019.2903776
关键词
Backdrivable cable-pulley system; cable-tension disturbance observer; cable-driven series elastic actuator; external force self-sensing; surgical robot end-effector
资金
- National Natural Science Foundation of China [51805129, 91748109]
- Fundamental Research Funds for the Central Universities [JZ2017HGBZ0965]
The external force sensing ability of the end-effector plays a significant role in restricting the refine operation of a surgical robot. This paper proposes an external force self-sensing method based on the cable-tension disturbance observer for a four-degree-of-freedom (4-DoF) surgical robot end-effector, which is actuated by three backdrivable cable-driven series elastic actuators (BCDSEAs). First, the design of the surgical robot end-effector is introduced with the experimental prototype of a 1-DoF flexible finger joint. Second, four kinds of dynamic models of the flexible finger joint are established and experimentally identified. A joint angle estimator is proposed based on a simplified dynamic model. Then, a closed-loop motion control method for the flexible finger joint is proposed. Third, a driving cable-tension estimator is constructed as the benchmark for the cable-tension disturbance observer under free motion. Meanwhile, an external force self-sensing estimator is proposed based on the motion control strategy and the cable-tension disturbance observer. Finally, the experimental results of joint tracking control present a good performance. The compensation algorithm for the external force under free motion is studied to reduce the system error. The experimental results of the external force self-sensing show an overall estimation accuracy of 85.97% with a range of 0.10-2.00 N.
作者
我是这篇论文的作者
点击您的名字以认领此论文并将其添加到您的个人资料中。
推荐
暂无数据