Experimental research on the adaptive fuzzy control in slave-hand of surgical robot

摘要

Aiming at the problems of modern surgical robots lacking force perception, this paper built an experiment platform of force feedback surgical robot. The mathematical model for the slave-hand of surgical robot was established, and the adaptive fuzzy algorithm controlling strategy for the slave-hand of surgical robot was put forward. Through the virtual instrument development platform, this paper analyzed and established relationship between contacting force of robot finger and torque of the motor according to the characteristics that it could produce force after contacting. The adaptive fuzzy control algorithm was used, and the contacting force of the finger was precisely controlled. Experiments show that the adaptive fuzzy controller could realize the control of surgical robot from the hands of clamping force. And it was better than traditional PID controller.