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公开(公告)号：US09008842B2
公开(公告)日：2015-04-14
申请号：US13013346
申请日：2011-01-25
CPC分类号： A61B19/22 , A61B34/30 , A61B34/37 , A61B34/70 , A61B90/361 , A61B2034/305 , B25J9/1646 , B25J9/1689 , G05B2219/42347 , G05B2219/42351 , G05B2219/42352 , G05B2219/45123 , A61B19/2203 , A61B19/5212
摘要： A medical robotic system has a joint coupled to medical device or a slave manipulator or robotic arm adapted to hold and/or move the medical device for performing a medical procedure, and a control system for controlling movement of the joint according to user manipulation of a master manipulator. The control system includes at least one joint controller having a sliding mode control for reducing stick-slip behavior on its controlled joint during fine motions of the joint. The sliding mode control computes a distance to a sliding surface, computes a reaching law gain, and processes the distance and reaching law gain to generate a sliding mode control action that is in absolute value less that a maximum desired feedback control action. The sliding mode control action is then further processed to generate a feedback torque command for the joint motor.
摘要翻译： 医疗机器人系统具有联接到医疗装置或适于保持和/或移动用于执行医疗程序的医疗装置的从动操纵器或机器人臂的联接器，以及用于根据用户操纵的控制来控制关节的移动的控制系统 主操纵器。 该控制系统包括至少一个具有滑动模式控制的联合控制器，用于在关节的精细运动期间减小其受控关节上的滑动性能。 滑动模式控制计算到滑动表面的距离，计算到达法律增益，并且处理距离和达到法律增益以产生绝对值小于最大期望反馈控制动作的滑动模式控制动作。 然后进一步处理滑动模式控制动作，以产生用于联合马达的反馈扭矩指令。
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公开(公告)号：US20040138801A1
公开(公告)日：2004-07-15
申请号：US10743407
申请日：2003-12-23
申请人： HONDA MOTOR CO., LTD
发明人： Yuji Yasui , Kanako Shimojo , Eijiro Shimabukuro
IPC分类号： G06F019/00
CPC分类号： G05B13/0205 , F16H61/0403 , F16H61/2807 , F16H61/32 , F16H2059/6807 , F16H2061/2823 , G05B2219/39341 , G05B2219/42094 , G05B2219/42123 , G05B2219/42343 , G05B2219/42347 , G05B2219/42352 , G05B2219/49356 , Y10T477/60
摘要： A low cost control apparatus of a contact mechanism resolving a disadvantage caused when a contact body is moved to make contact with a contacted body by an actuator. A synchronizing mechanism, which a coupling sleeve rotatably and integrally provided with an input shaft is pushed against a synchronizer ring disposed between the coupling sleeve and a synchronized gear, thereby synchronizing rotational speeds of both the components to engage them, is modeled as a collision between an inertia system object and an elastic system object. A computation coefficient (VPOLE, f in FIG. 9) of a switching function for sliding mode control having a deviation between an actual position of the coupling sleeve (Psc, d in FIG. 9) and a target position (Psc_cmd, e in FIG. 9) as a state variable is changed depending on the actual position (Psc), and thereby changing a control ability of the model against a disturbance.
摘要翻译： 一种接触机构的低成本控制装置，其解决当接触体移动以通过致动器与接触体接触时所引起的缺点。 同步机构，其可旋转地并且整体地设置有输入轴的联接套筒被推压抵靠设置在联接套筒和同步齿轮之间的同步器环，从而同步两个部件的旋转速度以使其接合，被建模为 惯性系统对象和弹性系统对象。 具有耦合套筒的实际位置（图9中的Psc，d）与目标位置（图9中的Psc_cmd，e）之间的偏移的滑动模式控制的切换功能的计算系数（图9中的VPOLE，f） 9）作为状态变量根据实际位置（Psc）而变化，从而改变模型对干扰的控制能力。
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公开(公告)号：US07899578B2
公开(公告)日：2011-03-01
申请号：US12247346
申请日：2008-10-08
IPC分类号： B25J13/08
CPC分类号： A61B19/22 , A61B34/30 , A61B34/37 , A61B34/70 , A61B90/361 , A61B2034/305 , B25J9/1646 , B25J9/1689 , G05B2219/42347 , G05B2219/42351 , G05B2219/42352 , G05B2219/45123 , A61B19/2203 , A61B19/5212
摘要： A medical robotic system has a joint coupled to medical device or a slave manipulator or robotic arm adapted to hold and/or move the medical device for performing a medical procedure, and a control system for controlling movement of the joint according to user manipulation of a master manipulator. The control system includes at least one joint controller having a sliding mode control for reducing stick-slip behavior on its controlled joint during fine motions of the joint. The sliding mode control computes a distance to a sliding surface, computes a reaching law gain, and processes the distance and reaching law gain to generate a sliding mode control action that is in absolute value less that a maximum desired feedback control action. The sliding mode control action is then further processed to generate a feedback torque command for the joint motor.
摘要翻译： 医疗机器人系统具有联接到医疗装置或适于保持和/或移动用于执行医疗程序的医疗装置的从动操纵器或机器人臂的联接器，以及用于根据用户操纵的控制来控制关节的移动的控制系统 主操纵器。 该控制系统包括至少一个具有滑动模式控制的联合控制器，用于在关节的精细运动期间减小其受控关节上的滑动性能。 滑动模式控制计算到滑动表面的距离，计算到达法律增益，并且处理距离和达到法律增益以产生绝对值小于最大期望反馈控制动作的滑动模式控制动作。 然后进一步处理滑动模式控制动作，以产生用于联合马达的反馈扭矩指令。
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公开(公告)号：US07120530B2
公开(公告)日：2006-10-10
申请号：US10743407
申请日：2003-12-23
申请人： Yuji Yasui , Kanako Shimojo , Eijiro Shimabukuro
发明人： Yuji Yasui , Kanako Shimojo , Eijiro Shimabukuro
IPC分类号： G06F7/00
CPC分类号： G05B13/0205 , F16H61/0403 , F16H61/2807 , F16H61/32 , F16H2059/6807 , F16H2061/2823 , G05B2219/39341 , G05B2219/42094 , G05B2219/42123 , G05B2219/42343 , G05B2219/42347 , G05B2219/42352 , G05B2219/49356 , Y10T477/60
摘要： A low cost control apparatus of a contact mechanism resolving a disadvantage caused when a contact body is moved to make contact with a contacted body by an actuator. A synchronizing mechanism, which a coupling sleeve rotatably and integrally provided with an input shaft is pushed against a synchronizer ring disposed between the coupling sleeve and a synchronized gear, thereby synchronizing rotational speeds of both the components to engage them, is modeled as a collision between an inertia system object and an elastic system object. A computation coefficient (VPOLE, f in FIG. 9) of a switching function for sliding mode control having a deviation between an actual position of the coupling sleeve (Psc, d in FIG. 9) and a target position (Psc_cmd, e in FIG. 9) as a state variable is changed depending on the actual position (Psc), and thereby changing a control ability of the model against a disturbance.
摘要翻译： 一种接触机构的低成本控制装置，其解决当接触体移动以通过致动器与接触体接触时所引起的缺点。 同步机构，其可旋转地并且整体地设置有输入轴的联接套筒被推压抵靠设置在联接套筒和同步齿轮之间的同步器环，从而同步两个部件的旋转速度以使其接合，被建模为 惯性系统对象和弹性系统对象。 具有耦合套筒的实际位置（图9中的Psc，d）与目标位置（图9中的Psc_cmd，e）之间的偏移的滑动模式控制的切换功能的计算系数（图9中的VPOLE，f） 9）作为状态变量根据实际位置（Psc）而变化，从而改变模型对干扰的控制能力。
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公开(公告)号：US20110160904A1
公开(公告)日：2011-06-30
申请号：US13013346
申请日：2011-01-25
IPC分类号： B25J13/00
CPC分类号： A61B19/22 , A61B34/30 , A61B34/37 , A61B34/70 , A61B90/361 , A61B2034/305 , B25J9/1646 , B25J9/1689 , G05B2219/42347 , G05B2219/42351 , G05B2219/42352 , G05B2219/45123 , A61B19/2203 , A61B19/5212
摘要： A medical robotic system has a joint coupled to medical device or a slave manipulator or robotic arm adapted to hold and/or move the medical device for performing a medical procedure, and a control system for controlling movement of the joint according to user manipulation of a master manipulator. The control system includes at least one joint controller having a sliding mode control for reducing stick-slip behavior on its controlled joint during fine motions of the joint. The sliding mode control computes a distance to a sliding surface, computes a reaching law gain, and processes the distance and reaching law gain to generate a sliding mode control action that is in absolute value less that a maximum desired feedback control action. The sliding mode control action is then further processed to generate a feedback torque command for the joint motor.
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公开(公告)号：US20070138992A1
公开(公告)日：2007-06-21
申请号：US11613962
申请日：2006-12-20
申请人： Giuseppe Prisco , David Larkin
发明人： Giuseppe Prisco , David Larkin
CPC分类号： A61B19/22 , A61B34/30 , A61B34/37 , A61B34/70 , A61B90/361 , A61B2034/305 , B25J9/1646 , B25J9/1689 , G05B2219/42347 , G05B2219/42351 , G05B2219/42352 , G05B2219/45123 , A61B19/2203 , A61B19/5212
摘要： A medical robotic system has a joint coupled to medical device or a slave manipulator or robotic arm adapted to hold and/or move the medical device for performing a medical procedure, and a control system for controlling movement of the joint according to user manipulation of a master manipulator. The control system includes at least one joint controller having a sliding mode control for reducing stick-slip behavior on its controlled joint during fine motions of the joint. The sliding mode control computes a distance to a sliding surface, computes a reaching law gain, and processes the distance and reaching law gain to generate a sliding mode control action that is in absolute value less that a maximum desired feedback control action. The sliding mode control action is then further processed to generate a feedback torque command for the joint motor.
摘要翻译： 医疗机器人系统具有联接到医疗装置或适于保持和/或移动用于执行医疗程序的医疗装置的从动操纵器或机器人臂的联接器，以及用于根据用户操纵的控制来控制关节的移动的控制系统 主操纵器。 该控制系统包括至少一个具有滑动模式控制的联合控制器，用于在关节的精细运动期间减小其受控关节上的滑动性能。 滑动模式控制计算到滑动表面的距离，计算到达法律增益，并且处理距离和达到法律增益以产生绝对值小于最大期望反馈控制动作的滑动模式控制动作。 然后进一步处理滑动模式控制动作，以产生用于联合马达的反馈扭矩指令。
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公开(公告)号：US20040145321A1
公开(公告)日：2004-07-29
申请号：US10743464
申请日：2003-12-23
发明人： Yuji Yasui , Kanako Shimojo , Eijiro Shimabukuro
IPC分类号： H02P005/00
CPC分类号： G05B13/0205 , F16H59/68 , F16H61/0403 , F16H61/28 , F16H2059/6807 , F16H2061/2823 , G05B2219/39341 , G05B2219/42094 , G05B2219/42123 , G05B2219/42343 , G05B2219/42347 , G05B2219/42352 , G05B2219/49356
摘要： An actuator control apparatus is provided, capable of causing a state value which changes according to the action of an actuator to match a prescribed target value. A synchronizing mechanism is modeled as the collision of an inertial system object and an elastic system object, and taking as a state amount the deviation between the actual position (Psc) of a coupling sleeve and the target position (Psc_cmd), a computation coefficient (VPOLE) of a switching function used in sliding mode control which takes the state amount as a variable is, in a first process until the coupling sleeve makes contact with a synchronizer ring, set according to the actual position (Psc) of the coupling sleeve, and in a process until the coupling sleeve engages a synchronized gear, is set such that the pressing force of the coupling sleeve matches a target pressing force.
摘要翻译： 提供了一种致动器控制装置，其能够使根据致动器的动作而变化的状态值与规定的目标值相匹配。 同步机构被建模为惯性系统物体和弹性系统物体的碰撞，并且将作为状态量的耦合套筒的实际位置（Psc）与目标位置（Psc_cmd）之间的偏差，计算系数（ 在作为变量的状态量的滑动模式控制中使用的切换功能的开关功能在直到联接套筒与同步器环接触的第一过程中，根据联接套筒的实际位置（Psc）设定， 并且在直到联接套筒接合同步齿轮的过程中，被设定为使得联接套筒的按压力与目标按压力匹配。
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公开(公告)号：US09119652B2
公开(公告)日：2015-09-01
申请号：US13014150
申请日：2011-01-26
CPC分类号： A61B19/22 , A61B34/30 , A61B34/37 , A61B34/70 , A61B90/361 , A61B2034/305 , B25J9/1646 , B25J9/1689 , G05B2219/42347 , G05B2219/42351 , G05B2219/42352 , G05B2219/45123 , A61B19/2203 , A61B19/5212
摘要： A medical robotic system has a joint coupled to medical device or a slave manipulator or robotic arm adapted to hold and/or move the medical device for performing a medical procedure, and a control system for controlling movement of the joint according to user manipulation of a master manipulator. The control system includes at least one joint controller having a sliding mode control for reducing stick-slip behavior on its controlled joint during fine motions of the joint. The sliding mode control computes a distance to a sliding surface, computes a reaching law gain, and processes the distance and reaching law gain to generate a sliding mode control action that is in absolute value less that a maximum desired feedback control action. The sliding mode control action is then further processed to generate a feedback torque command for the joint motor.
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公开(公告)号：US20110166706A1
公开(公告)日：2011-07-07
申请号：US13014150
申请日：2011-01-26
IPC分类号： B25J13/00
CPC分类号： A61B19/22 , A61B34/30 , A61B34/37 , A61B34/70 , A61B90/361 , A61B2034/305 , B25J9/1646 , B25J9/1689 , G05B2219/42347 , G05B2219/42351 , G05B2219/42352 , G05B2219/45123 , A61B19/2203 , A61B19/5212
摘要： A medical robotic system has a joint coupled to medical device or a slave manipulator or robotic arm adapted to hold and/or move the medical device for performing a medical procedure, and a control system for controlling movement of the joint according to user manipulation of a master manipulator. The control system includes at least one joint controller having a sliding mode control for reducing stick-slip behavior on its controlled joint during fine motions of the joint. The sliding mode control computes a distance to a sliding surface, computes a reaching law gain, and processes the distance and reaching law gain to generate a sliding mode control action that is in absolute value less that a maximum desired feedback control action. The sliding mode control action is then further processed to generate a feedback torque command for the joint motor.
摘要翻译： 医疗机器人系统具有联接到医疗装置或适于保持和/或移动用于执行医疗程序的医疗装置的从动操纵器或机器人臂的联接器，以及用于根据用户操纵的控制来控制关节的移动的控制系统 主操纵器。 该控制系统包括至少一个具有滑动模式控制的联合控制器，用于在关节的精细运动期间减小其受控关节上的滑动性能。 滑动模式控制计算到滑动表面的距离，计算到达法律增益，并且处理距离和达到法律增益以产生绝对值小于最大期望反馈控制动作的滑动模式控制动作。 然后进一步处理滑动模式控制动作，以产生用于联合马达的反馈扭矩指令。
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公开(公告)号：US20090099692A1
公开(公告)日：2009-04-16
申请号：US12247346
申请日：2008-10-08
申请人： Giuseppe Prisco , David Q. Larkin
发明人： Giuseppe Prisco , David Q. Larkin
IPC分类号： B25J13/08
CPC分类号： A61B19/22 , A61B34/30 , A61B34/37 , A61B34/70 , A61B90/361 , A61B2034/305 , B25J9/1646 , B25J9/1689 , G05B2219/42347 , G05B2219/42351 , G05B2219/42352 , G05B2219/45123 , A61B19/2203 , A61B19/5212
摘要： A medical robotic system has a joint coupled to medical device or a slave manipulator or robotic arm adapted to hold and/or move the medical device for performing a medical procedure, and a control system for controlling movement of the joint according to user manipulation of a master manipulator. The control system includes at least one joint controller having a sliding mode control for reducing stick-slip behavior on its controlled joint during fine motions of the joint. The sliding mode control computes a distance to a sliding surface, computes a reaching law gain, and processes the distance and reaching law gain to generate a sliding mode control action that is in absolute value less that a maximum desired feedback control action. The sliding mode control action is then further processed to generate a feedback torque command for the joint motor.
摘要翻译： 医疗机器人系统具有联接到医疗装置或适于保持和/或移动用于执行医疗程序的医疗装置的从动操纵器或机器人臂的联接器，以及用于根据用户操纵的控制来控制关节的移动的控制系统 主操纵器。 该控制系统包括至少一个具有滑动模式控制的联合控制器，用于在关节的精细运动期间减小其受控关节上的滑动性能。 滑动模式控制计算到滑动表面的距离，计算到达法律增益，并且处理距离和达到法律增益以产生绝对值小于最大期望反馈控制动作的滑动模式控制动作。 然后进一步处理滑动模式控制动作，以产生用于联合马达的反馈扭矩指令。
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