A Force Control Method of Medical Robot Based on Impedance Control
The problem of dynamic contact between robots and the physical environment has always been a hot research topic with great significance. In the process of rapid development of robotics technology, the field of medical robots has gradually emerged, and the research on compliant control and force control algorithms involved in dynamic contact has become increasingly important. At present, most of the subjects interacting with the environment and moving according to feedback are robotic arms. This paper focuses on a lighter and simpler type of actuator composed of a motor and slide table, studies the commonness of this kind of mechanism, and gives the power control method, and verifies its feasibility through Simulink simulation.
Authors
- Marcin Grzegorzek (ORCID: https://orcid.org/0000-0003-4877-8287)
- Yujie Zhang (ORCID: https://orcid.org/0000-0003-0581-759X)
- Xu Lin (ORCID: https://orcid.org/0000-0002-6107-5597)
- Linshuai Zhang (ORCID: https://orcid.org/0000-0002-2173-3698)
- Tao Jiang (ORCID: https://orcid.org/0000-0002-2461-1354)
- Peng Zeng (ORCID: https://orcid.org/0000-0002-8225-2329)
- Zhihang Yuan (ORCID: https://orcid.org/0000-0001-7846-0240)
- Shuoxin Gu (ORCID: https://orcid.org/0000-0002-5049-2440)
Institutions
- Chengdu University of Information Technology (CN)
- Chengdu University of Traditional Chinese Medicine (CN)
Publication Details
- Published
- 2024-12-10
- DOI
- https://doi.org/10.1109/robio64047.2024.10907510
- Primary Topic
- Teleoperation and Haptic Systems
- Type
- article
- Field-Weighted Citation Impact
- 0.00
Funders
- National Natural Science Foundation of China
- Chinese Medicine Research Program of Zhejiang Province
- Science and Technology Planning Project of Shenzhen Municipality