期刊
IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING
卷 15, 期 3, 页码 1337-1354出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TASE.2018.2790900
关键词
Contact modeling; force control; medical robots and systems; null-space control; robotic-assisted tele-echography
资金
- project A Surgery and Diagnosis Assisted by Computer Using Images - QREN Programme Mais Centro [SCT_2011_02_027_4824]
- FEDER
- FCT [SFRH/BD/69557/2010]
- [CENTRO-01-0247-FEDER-017958]
- Fundação para a Ciência e a Tecnologia [SFRH/BD/69557/2010] Funding Source: FCT
This paper discusses a new control approach for robotic-assisted tele-echography. The control architecture follows a hierarchical approach, where explicit Cartesian force control arises as the primary task while orientation control is designed in the null space. The robot dynamics is driven by a 3-D time-of-flight camera and a force sensor. Based on depth camera and force data, contact stiffness is anticipated, allowing control adaptation before contact. This approach is adequate for tele-echographic tasks since it reduces robot dynamics before contact, enabling a smooth transition from free space to contact and vice versa. In contact, the environment stiffness is estimated online using force data and the manipulator inertial properties. A strong correlation between the stiffness perceived by the controller and the effective mass exists, being this correlation used in the estimation algorithm to improve force control performance. A set of experiments assess the control architecture, highlighting the relation between perceived stiffness and robot effective mass, including also clinical validation.
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