Polytopic Model Based Interaction Control for Soft Tissue Manipulation
  • Metaadatok
Tartalom: http://real.mtak.hu/42095/
Archívum: MTA Könyvtár
Gyűjtemény: Status = Published


Type = Conference or Workshop Item
Cím:
Polytopic Model Based Interaction Control for Soft Tissue Manipulation
Létrehozó:
Takåcs, Árpåd
Kuti, JĂłzsef
Haidegger, TamĂĄs
Galambos, PĂŠter
Rudas, Imre
Dátum:
2016
Téma:
Q1 Science (General) / termĂŠszettudomĂĄny ĂĄltalĂĄban
RD Surgery / sebĂŠszet
Tartalmi leírás:
Reliable force control is one of the key components of modern robotic teleoperation. The performance of these systems in terms of safety and stability largely depends on the controller design, as it is desired to account for various disturbing conditions, such as uncertainties of the model parameters or latency-induced problems. This work presents a polytopic qLPV model derived from a previously verified nonlinear soft tissue model, along with a model-based force control scheme that involves a tensor product polytopic state feedback controller.
The derivation is based on the Tensor Product (TP) Model
Transformation. The proposed force control scheme is verified and evaluated through numerical simulations. Index Terms—Soft tissue modeling, telesurgery control, Polytopic model based control, TP Model Transformation, qLPV modeling, LMI-based controller design.
Nyelv:
angol
Típus:
Conference or Workshop Item
PeerReviewed
info:eu-repo/semantics/conferenceObject
Formátum:
text
Azonosító:
Takåcs, Árpåd and Kuti, József and Haidegger, Tamås and Galambos, PÊter and Rudas, Imre (2016) Polytopic Model Based Interaction Control for Soft Tissue Manipulation. In: 16th IEEE Intl. Conf. on Systems, Man, and Cybernetics (SMC).
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