지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술대회자료
- 저자정보
- 발행연도
- 2014.10
- 수록면
- 778 - 781 (4page)
이용수
초록· 키워드
오류제보하기
Reaction force estimation is the major challenge of surgical robotic procedures. In previous research, sliding mode control with sliding perturbation observer (SMCSPO) is used to estimate the reaction force in the sensor-less system. Moreover, a fuzzy-SPO method is also proposed to separate actual reaction force in presence of dynamic disturbances. However, in both those research, some physical constraints determined the SMCSPO parameters, which play a vital role in the force estimation sensitivity. The force sensitivity of the algorithm is equally important because extra force can cause organ impairment, rupture during surgery. Therefore, in this study, the force resolutions of the SPO and fuzzy-SPO for a robotic model have studied by Matlab simulation and it has seen that fuzzy-SPO performs better than classical SPO.
목차
Abstract
1. INTRODUCTION
2. MODELLING AND ALGORITHM
3. SIMULATION RESULTS
4. CONCLUSSION
REFERENCES
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