Force Control of a Rigid Robot with a Flexible Link

摘要

This paper introduces a conceptual design of a hybrid mechatronic system consisting of a rigid robotic arm and a flexible link. The hybrid system represents an intermediate step towards a new type of instruments to be employed in the field of robotic surgery. These instruments are characterized by high distal structural flexibility allowing for safer interaction with the tissue. This paper shows that despite of the flexibility it is possible to accurately control the interaction forces between the robot and the soft and delicate tissue. To this end, a force control method is suggested, featuring quasi-static system model that is resolved in real-time inside the control law. The paper describes the overall system architecture, explains the basic concept behind the force control law and includes experimental validation of the force control of the hybrid mechatronic system. Conclusions are drawn and some indications for further work are formulated.