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MEDICAL ROBOTIC SYSTEM WITH PROGRAMMABLY CONTROLLED CONSTRAINTS ON ERROR DYNAMICS
MEDICAL ROBOTIC SYSTEM WITH PROGRAMMABLY CONTROLLED CONSTRAINTS ON ERROR DYNAMICS
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机译:具有误差动态约束且受程序控制的医疗机器人系统
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摘要
A medical robotic system has a robot arm holding an instrument for performing a medical procedure, and a control system for controlling movement of the arm and its instrument according to user manipulation of a master manipulator. The control system includes at least one joint controller that includes a controller having programmable parameters for setting a steady-state velocity error and a maximum acceleration error for the joint's movement relative to a set point in response to an externally applied and released force.
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