基于软组织环境的遥操作机器人系统广义预测控制  

Study on generalized predictive controller for tele-manipulation robot system with soft tissue environment

作　　者：王捍兵[1] 曾庆军[1] 

机构地区：[1]江苏科技大学电子信息学院,镇江212003

出　　处：《东南大学学报（自然科学版）》2010年第S1期337-342,共6页Journal of Southeast University：Natural Science Edition

基　　金：国家自然科学基金资助项目(60575051);江苏省"青蓝工程"中青年学术带头人资助项目

摘　　要：针对微创手术中由呼吸运动和心跳产生的周期性扰动和软组织环境特点,设计了一种新颖的广义预测控制方案.使用MATLAB中的SIMULINK仿真工具建立仿真框图,将广义预测控制算法编写成S函数作为系统中的预测控制器,并加入方波信号模拟周期性的扰动.分别进行遥操作机器人主从手开环位置跟踪仿真实验和遥操作机器人主从手闭环位置-力跟踪仿真实验.仿真实验结果表明,系统在该控制方案下能够有效地减小扰动影响,使从手很好地跟踪主手运动,并将所受的力反馈至主手.在主从手遥操作机器人系统中采用广义预测控制方案可有效抑制微创手术中由呼吸运动和心跳产生的周期性扰动影响.In order to eliminate the effect of periodic deformations of organs due to respiratory movements and heart beating,a novel algorithm of generalized predictive controller scheme has been designed. The simulation charts were established by SIMULINK tools of MATLAB,the algorithm of generalized predictive control was written to S-function as the predictive controller of the system,and the square signal was added to simulate the cyclic disturbances. The open-loop experiment of slave manipulator position tracing master manipulator's and the closed-loop experiment of slave manipulator position-force tracing master manipulator's were made respectively. The results of simulation experiments show that this system can effectively reduce the impact of the periodic disturbances in the control scheme,making slave manipulator properly trace the master manipulator and feed back the force to master manipulator. It is shown that the influence of periodic disturbances in minimally invasive surgery due to respiratory movements and heart beating can be effectively suppressed by the generalized predictive controller scheme adopted in the master-slave tele-manipulation robot system.

关 键 词：遥操作机器人 微创手术 广义预测控制 周期性扰动 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]