Estimation of environmental model with nonlinear stiffness

Masataka Sato, Kouhei Ohnishi

研究成果: Conference contribution

抜粋

Recently, Minimally Invasive Surgery(MIS) has come to the front. The research on surgical robot for operational support has been actively done. To use such robots in MIS, it is needed to estimate the environmental impedance as the numerical data and to preserve it as the standard reference value of the safety field of internal organs. In this paper, the environmental model considering nonlinear stiffness in real environment by bilateral control is proposed. The proposed method can estimate environmental model without depending on the initial position of a slave system and environmental surface. To verify the viability of the proposed method, experimental results are shown.

元の言語English
ホスト出版物のタイトルAMC2010 - The 11th IEEE International Workshop on Advanced Motion Control, Proceedings
ページ721-725
ページ数5
DOI
出版物ステータスPublished - 2010 6 25
イベント2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010 - Nagaoka, Niigata, Japan
継続期間: 2010 3 212010 3 24

出版物シリーズ

名前International Workshop on Advanced Motion Control, AMC

Other

Other2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010
Japan
Nagaoka, Niigata
期間10/3/2110/3/24

    フィンガープリント

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modelling and Simulation
  • Computer Science Applications
  • Electrical and Electronic Engineering

これを引用

Sato, M., & Ohnishi, K. (2010). Estimation of environmental model with nonlinear stiffness. : AMC2010 - The 11th IEEE International Workshop on Advanced Motion Control, Proceedings (pp. 721-725). [5464039] (International Workshop on Advanced Motion Control, AMC). https://doi.org/10.1109/AMC.2010.5464039