Compliant comanipulation control for medical robotics

Authors:
Cristóvão Sousa;Rui Cortesão;Pedro Queirós
Affiliations:
Institute of Systems and Robotics, Electrical and Computer Engineering Department, University of Coimbra, Coimbra, Portugal;Institute of Systems and Robotics, Electrical and Computer Engineering Department, University of Coimbra, Coimbra, Portugal;Institute of Systems and Robotics, Electrical and Computer Engineering Department, University of Coimbra, Coimbra, Portugal
Venue:
HSI'09 Proceedings of the 2nd conference on Human System Interactions
Year:
2009

Citing 5
Cited 0

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Computer-controlled systems (3rd ed.)
Robot Dynamics and Control

Robot Dynamics and Control
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Modeling, Identification and Control of Robots

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Journal of Intelligent and Robotic Systems

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Abstract

This paper presents a compliant control architecture for comanipulation in the medical robotics field. The kinematics and dynamics models of robots are described and its linearization by non linear feedback is implemented. The impedance control concept is introduced and representation in arbitrary frames techniques are presented. Various virtual walls restrictions to the robot end-effector are made using a proportional/derivative controller and an active observer (AOB) impedance controller. Some practical analyses and conclusions are made.