Sliding Perturbation Observer Based Reaction Force Estimation Method of Surgical Robot Instrument for Haptic Realization

摘要: Previous research applied sliding mode control with a perturbation observer (SMCSPO) algorithm as robust controller to surgical robotic instrument and reported that reaction force loaded on the tip can be estimated similarly by (SPO). However, some factors, such friction, in which it is difficult find model parameters beforehand, have an effect estimation because factors are included perturbation. This paper addresses SPO based method extract pure robot case of including Coulomb friction due operation cable-pulley structure. experimentally compensated for from An experimental evaluation was performed prove suggested method. The results show substituted sensors measure force. will used realize haptic function sending master device surgeon. help create benefit shortening practice time surgeon providing information using signal protect organ forming boundary.