Feedback force control for virtual surgery device based on internal model control

Computer Engineering and Applications ›› 2011, Vol. 47 ›› Issue (24): 20-22.

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Feedback force control for virtual surgery device based on internal model control

WU Bo1，CAI Ping1，HU Zhi1，JIANG Jun2，XIE Le2

1.Department of Instrument Science and Engineering，Shanghai Jiaotong University，Shanghai 200240，China
2.Digital Manufacturing Technology Center，Shanghai Jiaotong University，Shanghai 200030，China

Received:1900-01-01 Revised:1900-01-01 Online:2011-08-21 Published:2011-08-21

虚拟手术力反馈装置反馈力内模控制

武博1，蔡萍1，胡陟1，蒋峻2，谢叻2

1.上海交通大学仪器科学与工程系，上海 200240
2.上海交通大学国家数字化制造技术中心，上海 200030

Abstract

Abstract: System delay and the parameter variability of the virtual environment may worsen system performance.An internal model controller is designed based on system model analysis and the controller works as a feed-forward unit to easy the method realization without adding closed-loop，and experimental results demonstrate the effectiveness of the algorithm.

Key words: virtual surgery, force feedback, internal model control

摘要： 时滞和虚拟环境模型参数的变异性影响到虚拟手术力反馈系统的性能。在分析系统模型的基础上设计内模控制器，控制器直接置于系统前馈通道而无需增加闭环，控制更加易于实现，实验结果验证了该算法的有效性。

关键词: 虚拟手术, 力反馈, 内模控制

WU Bo1，CAI Ping1，HU Zhi1，JIANG Jun2，XIE Le2. Feedback force control for virtual surgery device based on internal model control[J]. Computer Engineering and Applications, 2011, 47(24): 20-22.

武博1，蔡萍1，胡陟1，蒋峻2，谢叻2. 虚拟手术力反馈装置反馈力内模控制[J]. 计算机工程与应用, 2011, 47(24): 20-22.

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Feedback force control for virtual surgery device based on internal model control

虚拟手术力反馈装置反馈力内模控制

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