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Force-Free Control for Direct Teaching of a Surgical Assistant Robot End Effector with Wire-Driven Bidirectional Telescopic Mechanism

This paper shows the design and modeling of an end effector with a bidirectional telescopic mechanism to allow a surgical assistant robot to hold and handle surgical instruments. It also presents a force-free control algorithm for the direct teaching of end effectors. The bidirectional telescopic me...

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Detalles Bibliográficos
Autores principales: Zhang, Youqiang, Jeong, Cheol-Su, Kim, Minhyo, Jin, Sangrok
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2021
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8156176/
https://www.ncbi.nlm.nih.gov/pubmed/34067868
http://dx.doi.org/10.3390/s21103498
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author Zhang, Youqiang
Jeong, Cheol-Su
Kim, Minhyo
Jin, Sangrok
author_facet Zhang, Youqiang
Jeong, Cheol-Su
Kim, Minhyo
Jin, Sangrok
author_sort Zhang, Youqiang
collection PubMed
description This paper shows the design and modeling of an end effector with a bidirectional telescopic mechanism to allow a surgical assistant robot to hold and handle surgical instruments. It also presents a force-free control algorithm for the direct teaching of end effectors. The bidirectional telescopic mechanism can actively transmit force both upwards and downwards by staggering the wires on both sides. In order to estimate and control torque via motor current without a force/torque sensor, the gravity model and friction model of the device are derived through repeated experiments. The LuGre model is applied to the friction model, and the static and dynamic parameters are obtained using a curve fitting function and a genetic algorithm. Direct teaching control is designed using a force-free control algorithm that compensates for the estimated torque from the motor current for gravity and friction, and then converts it into a position control input. Direct teaching operation sensitivity is verified through hand-guiding experiments.
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spelling pubmed-81561762021-05-28 Force-Free Control for Direct Teaching of a Surgical Assistant Robot End Effector with Wire-Driven Bidirectional Telescopic Mechanism Zhang, Youqiang Jeong, Cheol-Su Kim, Minhyo Jin, Sangrok Sensors (Basel) Communication This paper shows the design and modeling of an end effector with a bidirectional telescopic mechanism to allow a surgical assistant robot to hold and handle surgical instruments. It also presents a force-free control algorithm for the direct teaching of end effectors. The bidirectional telescopic mechanism can actively transmit force both upwards and downwards by staggering the wires on both sides. In order to estimate and control torque via motor current without a force/torque sensor, the gravity model and friction model of the device are derived through repeated experiments. The LuGre model is applied to the friction model, and the static and dynamic parameters are obtained using a curve fitting function and a genetic algorithm. Direct teaching control is designed using a force-free control algorithm that compensates for the estimated torque from the motor current for gravity and friction, and then converts it into a position control input. Direct teaching operation sensitivity is verified through hand-guiding experiments. MDPI 2021-05-17 /pmc/articles/PMC8156176/ /pubmed/34067868 http://dx.doi.org/10.3390/s21103498 Text en © 2021 by the authors. https://creativecommons.org/licenses/by/4.0/Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/).
spellingShingle Communication
Zhang, Youqiang
Jeong, Cheol-Su
Kim, Minhyo
Jin, Sangrok
Force-Free Control for Direct Teaching of a Surgical Assistant Robot End Effector with Wire-Driven Bidirectional Telescopic Mechanism
title Force-Free Control for Direct Teaching of a Surgical Assistant Robot End Effector with Wire-Driven Bidirectional Telescopic Mechanism
title_full Force-Free Control for Direct Teaching of a Surgical Assistant Robot End Effector with Wire-Driven Bidirectional Telescopic Mechanism
title_fullStr Force-Free Control for Direct Teaching of a Surgical Assistant Robot End Effector with Wire-Driven Bidirectional Telescopic Mechanism
title_full_unstemmed Force-Free Control for Direct Teaching of a Surgical Assistant Robot End Effector with Wire-Driven Bidirectional Telescopic Mechanism
title_short Force-Free Control for Direct Teaching of a Surgical Assistant Robot End Effector with Wire-Driven Bidirectional Telescopic Mechanism
title_sort force-free control for direct teaching of a surgical assistant robot end effector with wire-driven bidirectional telescopic mechanism
topic Communication
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8156176/
https://www.ncbi.nlm.nih.gov/pubmed/34067868
http://dx.doi.org/10.3390/s21103498
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