%0 Journal Article %A YANG Chenghao1 %A SANG Hongqiang1 %A 2 %A LIU Fen1 %A YUN Jintian1 %A CHEN Fa1 %T Design of master-slave control system with vibration suppression for minimally invasive surgical robot %D 2018 %R 10.3778/j.issn.1002-8331.1606-0411 %J Computer Engineering and Applications %P 235-239 %V 54 %N 1 %X A master-slave control system of the minimally invasive surgical robot is proposed for vibration suppression. The new Zero-Phase Filter(ZPF) and the Feed Forward PD(FFPD) algorithm are proposed, which aims to alleviate the physiological hand tremor and the “stick slip”behavior of salve manipulator, respectively. The new ZPF avoids the time delay which the traditional PD controller causes as well as the problem that conventional zero-phase filter cannot be used online, while the FFPD controller overcomes the disadvantage that the nonlinear friction torque exerts a negative effect on the performance of salve manipulator. Finally, simulations and experiments show that the method can effectively suppress the vibration phenomenon at the tip of surgical instrument. %U http://cea.ceaj.org/EN/10.3778/j.issn.1002-8331.1606-0411