http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
- 中文 을 입력하시려면 zhongwen을 입력하시고 space를누르시면됩니다.
- 北京 을 입력하시려면 beijing을 입력하시고 space를 누르시면 됩니다.
RISS 인기검색어
- 검색키워드
- 저자 : Farzan Ghalichi (검색결과 1 건)
- 무료
- 기관 내 무료
- 유료
-
A Soft Robotics Nonlinear Hybrid Position/Force Control for Tendon Driven Catheters
Minou Kouh Soltani,Sohrab Khanmohammadi,Farzan Ghalichi,Farrokh Janabi-Sharifi 제어·로봇·시스템학회 2017 International Journal of Control, Automation, and Vol.15 No.1
Minimally invasive steerable catheters, commonly implemented in cardiac ablation, are currently operatedby interventionalists exposing them to X-ray radiation and requiring the dexterity for accurate steering. Toconduct robot-assisted cardiac ablation, highly accurate stable control platform for precise force/position controlon the moving tissue is required. This paper introduces hybrid force/position control strategy to apply a constantforce to the cardiac tissue while tracking the desired trajectory. The position controller is based on a nonlinearmodel predictive tracking control satisfying the input constraints. Cosserat rod theory is incorporated for the distalshaft modeling of tendon-driven catheters, and the model is reformulated for controller design and stabilityproof. Lyapunov-based stability analysis is conducted. To apply the controller, the force-displacement mapping ofthe cardiac tissue is obtained through ex vivo experimental tests. The performance of the controller is evaluated,and the catheter is capable of regulating the force with the RMSE of 4.9 mN and tracking the position with theRMSE of 0.89 mm. The promising results verify the potential of the application of the introduced approach in realapplications including in vitro and clinical cardiac ablation.
연관 검색어 추천
이 검색어로 많이 본 자료
활용도 높은 자료
