Abstract
In order to solve the problem that current commercially available minimally surgical robots do not include significant haptic(force) feedback mechanism,a novel decoupled and coordinated force-position control strategy with corresponding intelligent control system design is proposed based on bilateral decoupled and coordinated bio-regulation mechanism in human body,in which control features of minimally surgical robots are considered.Actual experiments are carried out with four 3-DOF(degree of freedom) haptic manipulators to illustrate the performance of the proposed intelligent controller system.The results indicate that the proposed control system can achieve decoupled and coordinated force-position control.The operator can get accurate force feedback to guarantee robot performing task harmoniously and stably.
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