基于外力观测器的MIS机器人双边力反馈控制  

Bilateral Force Feedback Control Based on External Force Observer for MIS Robot

作　　者：桑宏强[1,3] 陈发 刘芬[2] 贠今天[1,3] 杨铖浩[1] SANG Hong-qiang;CHEN Fa;LIU Fen;YUN Jin-tian;YANG Cheng-hao(School of Mechanical Engineering,Tianjin Polytechnic University,Tianjin 300387,China;Engineering teaching practice training center,Tianjin Polytechnic University,Tianjin 300387,China;Tianjin Key Laboratory of Advanced Electromechanical Equipment Technology,Tianjin 300387,China)

机构地区：[1]天津工业大学机械工程学院,天津300387 [2]天津工业大学工程实训中心,天津300387 [3]天津市现代机电装备技术重点实验室,天津300387

出　　处：《控制工程》2018年第12期2184-2190,共7页Control Engineering of China

基　　金：国家自然科学基金青年基金资助项目(No.51205287);天津市自然科学基金资助项目(No.16JCYBJC18400);天津市高等学校创新团队培养计划资助(TD13-5037)

摘　　要：针对现有微创外科手术机器人缺乏力感知和力反馈问题,提出了基于外力观测器的微创机器人鲁棒滑模双边力反馈控制结构。设计了非线性外力观测器,用于实现主从机器人的外力观测。为获得准确的外力观测,需要对摩擦和扰动进行补偿,确定关节摩擦为Stribeck模型,采用遗传算法对模型中参数予以辨识,采用等效法对扰动进行补偿。为实现准确的轨迹跟踪和保证系统的稳定性,设计了鲁棒滑模控制器。通过仿真和实验对所提出的控制结构进行了验证,结果表明所提出的双边力反馈控制结构,能够实现无力传感器下外力的准确观测,同时具有仅通过位置.位置的硬件结构获得位置.力硬件结构的优点,为无力传感器下的主从运动控制奠定了研究基础。Aiming at the shortage of force sensing and force feedback in the current minimally invasive surgical(MIS) robotic system, the robust sliding mode bilateral control structure based on the external force observer is put forward. A nonlinear external force observer is designed to get external force in the master-slave robotic system. To accurately obtain the external force, joint friction and disturbance compensations are needed. The friction parameters of the Stribeck model are identified using the genetic algorithm and disturbance compensation is implemented using the equivalent method. The robust siding mode controller is designed to implement accurately trajectory tracking and guarantee the system stability. The proposed control structure is verified by simulations and experiments. The results show that the external force can be observed without force sensor. The force feedback control structure has the advantage of the position-force structure, which can be accomplished by only the hardware of the position-position structure. At the same time, the proposed control structure will lay the foundation for master-slave motion control in absence of force sensors.

关 键 词：微创外科机器人 外力观测器 鲁棒滑模控制 双边力反馈 摩擦和扰动补偿 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]