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Alternative TitleSliding mode control for master slave catheter robot in endovascular invasive interventional surger
赵希梅; 游健康; 刘浩; 李洪谊
Source Publication沈阳工业大学学报
Contribution Rank1
Funding Organization国家自然青年科学基金资助项目(61105099);沈阳市科技计划资助项目(F12-277-1-70).
Keyword血管介入手术 主从导管机器人 终端滑模控制 滑模阻抗控制 遥操作 时延 参数不确定性 轴向运动 透明性
Other AbstractIn minimally vascular invasive surgery , the communication time delay and parametric uncertainties of master-slave teleoperation catheter robots system will reduce the stability , operability and transparency. In order to solve the problem, the dynamic model for master- slave catheter robots system was established. In addition , the sliding mode impedance controller was adopted on the master side , and terminal sliding mode control was adopted on the slave side. The proposed mode can reduce the influence of time delay on the operability of system. The simulated results of system axial movement show that 1he proposed system can better realize the tracking of displacement and force from slave side 10 master side. Furthermore , the proposed system has strong robustness and good transparency
Document Type期刊论文
Recommended Citation
GB/T 7714
赵希梅,游健康,刘浩,等. 血管介入手术主从导管机器人滑模控制[J]. 沈阳工业大学学报,2015,37(1):11-15.
APA 赵希梅,游健康,刘浩,&李洪谊.(2015).血管介入手术主从导管机器人滑模控制.沈阳工业大学学报,37(1),11-15.
MLA 赵希梅,et al."血管介入手术主从导管机器人滑模控制".沈阳工业大学学报 37.1(2015):11-15.
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