Abstract
In this paper we employ passivity-based control techniques to guarantee the stable manipulation of a constrained robotic endoscope holder. The system's modelling and the control synthesis are realised under the port-Hamiltonian formulation. Where a desired form of the closed-loop energy is enforced such that its local equilibrium implies the application of the desired force to the environment (patient's nostril), while regulating the endoscope unconstrained position and orientation inside the nasal cavity. This allows to set a specific energetic relation between the controlled robot and the environment, which in turn means a safer interaction with the tissue. Simulation and experimental results are presented to validate the theoretical concepts.
Original language | English |
---|---|
Title of host publication | WCICA 2011 - 2011 World Congress on Intelligent Control and Automation, Conference Digest |
Pages | 1195-1200 |
Number of pages | 6 |
DOIs | |
Publication status | Published - 9 Sept 2011 |
Externally published | Yes |
Event | 2011 World Congress on Intelligent Control and Automation, WCICA 2011 - Taipei, Taiwan Duration: 21 Jun 2011 → 25 Jun 2011 |
Conference
Conference | 2011 World Congress on Intelligent Control and Automation, WCICA 2011 |
---|---|
Country/Territory | Taiwan |
City | Taipei |
Period | 21/06/11 → 25/06/11 |
Keywords
- constrained robot manipulation
- force control
- passivity
- port-Hamiltonian systems
- Surgical robotics
ASJC Scopus subject areas
- Control and Systems Engineering
- Software
- Computer Science Applications