Controller for Robot Based Teleoperation System

摘要

A remote control system for a robot can include a controller and an instrument operable by a controller.The instrument may be a medical instrument.The controller may include a handle configured for operation by the operator.The handle can be mounted to a gimbal configured to allow handle operation with multiple rotational degrees of freedom.The gimbal may include a load cell.The gimbal can be configured to control impedance.The controller may also include a positioning platform configured to be coupled to the gimbal and capable of manipulating the handles at multiple position degrees of freedom.The controller may be configured to perform an admittance control based at least in part on the output signal of the load cell in the gimbal.