期刊
NEURAL NETWORKS
卷 131, 期 -, 页码 291-299出版社
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.neunet.2020.07.033
关键词
Recurrent neural network; Remote center of motion; Redundant manipulator; Robot-assisted minimally invasive surgery
资金
- European Commission Horizon 2020 research and innovation program, under the project SMARTsurg [732515]
- Human Brain Project SGA2 [785907]
In this paper, an improved recurrent neural network (RNN) scheme is proposed to perform the trajectory control of redundant robot manipulators using remote center of motion (RCM) constraints. Firstly, learning by demonstration is implemented to model the surgical operation skills in the Cartesian space. After that, considering the kinematic constraints associated with the optimization control of redundant manipulators, we propose a novel RNN-based approach to facilitate accurate task tracking based on the general quadratic performance index, which includes managing the constraints on RCM joint angle, and joint velocity, simultaneously. The results of the conducted theoretical analysis confirm that the RCM constraint has been established successfully, and accordingly. The corresponding end-effector tracking errors asymptotically converge to zero. Finally, demonstration experiments are conducted in a laboratory setup environment using KUKA LWR4+ to validate the effectiveness of the proposed control strategy. (C) 2020 Elsevier Ltd. All rights reserved.
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