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CONTROL SYSTEM CONFIGURED TO COMPENSATE FOR NON-IDEAL ACTUATOR-TO-JOINT LINKAGE CHARACTERISTICS IN A MEDICAL ROBOTIC SYSTEM
CONTROL SYSTEM CONFIGURED TO COMPENSATE FOR NON-IDEAL ACTUATOR-TO-JOINT LINKAGE CHARACTERISTICS IN A MEDICAL ROBOTIC SYSTEM
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机译:控制系统,用于补偿医疗机器人系统中非理想的执行器与关节的连接特性
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摘要
A medical robotic system having non-ideal actuator-to-joint linkage characteristics, includes a control system including a proximal control loop with actuator sensor feedback to control dynamic response of an actuator coupled to a distal joint which in turn, is coupled to an end effector to provide a degree of freedom movement of the end effector, a distal control loop with distal joint sensor feedback and feedforward to the actuator to ensure steady-state convergence of the distal joint position, and an end effector control loop with end-point sensor feedback to control the end effector position to reach a commanded end effector position.
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