Implementation of bilateral control system based on acceleration control using FPGA for multi-DOF haptic endoscopic surgery robot

Hiroyuki Tanaka, Kouhei Ohnishi, Hiroaki Nishi, Toshikazu Kawai, Yasuhide Morikawa, Soji Ozawa, Toshiharu Furukawa

研究成果: Article

104 引用 (Scopus)

抜粋

Bilateral control systems are strongly required to apply to endoscopic surgeries. It is necessary that the system has enough degrees of freedom for applying various operation procedures including endoscopic surgery. When the degrees of freedom of the system are increased, the amount of control calculation is also increased, and it is hard to keep sampling periods short. The bilateral control systems, however, require comparatively shorter sampling periods, particularly the control system based on an acceleration control system. Hence, it is a difficult issue to increase the degrees of freedom of the bilateral control system. In this paper, the sampling period is kept short in the multi-degree of freedom system by using field programmable gate arrays as processors. The bilateral control system based on the acceleration control system is implemented in a robot system, which has 12 DOF, and some experimental results are shown, and the errors between the response of the master and slave robots are discussed.

元の言語English
ページ(範囲)618-627
ページ数10
ジャーナルIEEE Transactions on Industrial Electronics
56
発行部数3
DOI
出版物ステータスPublished - 2009 4 1

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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