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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...
Autores principales: | , , , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
MDPI
2021
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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. |
format | Online Article Text |
id | pubmed-8156176 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2021 |
publisher | MDPI |
record_format | MEDLINE/PubMed |
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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