DISTURBANCE FEED FORWARD CONTROL OF A HANDHELD PARALLEL ROBOT

Achim Wagner, Matthias Nübel, Essam Badreddin, Peter P. Pott, Markus L. Schwarz

2007

Abstract

A model-based control approach for a surgical parallel robot is presented, which combines a local tool stabilization with a global disturbance feed forward control. The robot is held in the operator’s hand during the manipulation of bones. For a precise processing the tool has to be decoupled from disturbances due to unintentional hand movements of the surgeon at the robot base. The base disturbances are transformed for a feed forward control using the inverse dynamics of the robot. Simulations show that disturbances can be reduced by many orders depending on sensor errors and delay.

References

  1. Chen, Y. and McInroy, J. E. (2004). Decoupled control of flexure-jointed hexapods using estimated joint-space mass-inertia matrix. IEEE Transactions on Control Systems Technology, 12.
  2. Honegger, M. (1999). Konzept einer Steuerung mit adaptiver nichtlinearer Regelung für einen Parallelmanipulator. Dissertation, ETH Zurich, Switzerland, http://www.e-collection.ethbib.ethz.ch.
  3. Honegger, M., Codourey, A., and Burdet, E. (1997). Adaptive control of the hexaglide, a 6 dof parallel manipulator. IEEE International Conference on Robotics and Automation, Albuquerque, USA.
  4. Huynh, P. (2001). Kinematic performance comparison of linar type parallel mechanisms, application to the design and control of a hexaslide. 5th International conference on mechatronics technology (ICMT2001), Singapore.
  5. Koekebakker, S., Teerhuis, P., and v.d. Weiden, A. (1998). Multiple level control of a hydraulically driven flight simulator motion system. CESA Conference, Hammammet.
  6. Merlet, J. (2000). Parallel robots. Kluwer Academic Publisher, Dordrecht, Netherlands.
  7. Pott, P., Wagner, A., Köpfle, A., Badreddin, E., Männer, R., Weiser, P., Scharf, H.-P., and Schwarz, M. (2004). A handheld surgical manipulator: Itd - design and first results. CARS 2004 Computer Assisted Radiology and Surgery, Chicago, USA.
  8. Riebe, S. and Ulbrich, H. (2003). Modelling and online computation of the dynamics of a parallel kinematic with six degrees-of-freedom. Archive of Applied Mechanics, 72:817-829.
  9. Stewart, D. (1965-1966). A platform with six degrees of freedom. Proceedings of the Institute of Mechanical Engineering, 180:371-386.
  10. Takanokura, M. and Sakamoto, K. (2001). Physiological tremor of the upper limb segments. Eur. J. Appl. Physiol., 85:214-225.
  11. Tönshoff, H., Grendel, H., and Grotjahn, M. (2002). Modelling and control of a linear direct driven hexapod. Proceedings of the 3rd Chemnitz Parallel Kinematics Seminar PKS 2002, 2002 Parallel Kinematic Machines Int.Conf.
  12. Wagner, A., Pott, P., Schwarz, M., Scharf, H.-P., Weiser, P., Köpfle, A., Männer, R., and Badreddin, E. (2004). Control of a handheld robot for orthopedic surgery. 3rd IFAC Symposium on Mechatronic Systems, September 6-8, Sydney, Australia, page 499.
  13. Wagner, A., Pott, P., Schwarz, M., Scharf, H.-P., Weiser, P., Köpfle, A., Männer, R., and Badreddin, E. (2006). Efficient inverse dynamics of a parallel robot with two movable platforms. 4rd IFAC Symposium on Mechatronic Systems, Heidelberg, Germany.
Download


Paper Citation


in Bibtex Style

@conference{icinco07,
author={Achim Wagner and Matthias Nübel and Essam Badreddin and Peter P. Pott and Markus L. Schwarz},
title={DISTURBANCE FEED FORWARD CONTROL OF A HANDHELD PARALLEL ROBOT},
booktitle={Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2007},
pages={44-51},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001626500440051},
isbn={978-972-8865-83-2},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - DISTURBANCE FEED FORWARD CONTROL OF A HANDHELD PARALLEL ROBOT
SN - 978-972-8865-83-2
AU - Wagner A.
AU - Nübel M.
AU - Badreddin E.
AU - P. Pott P.
AU - L. Schwarz M.
PY - 2007
SP - 44
EP - 51
DO - 10.5220/0001626500440051


in Harvard Style

Wagner A., Nübel M., Badreddin E., P. Pott P. and L. Schwarz M. (2007). DISTURBANCE FEED FORWARD CONTROL OF A HANDHELD PARALLEL ROBOT . In Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-972-8865-83-2, pages 44-51. DOI: 10.5220/0001626500440051