Null-Space Compliance with Non-linear Behavior: Application to Spine Surgery Robotic Platform

Alizée Koszulinski, Juan Sandoval, Térence Essomba, Tanguy Vendeuvre, Saïd Zeghloul, Med Amine Laribi

研究成果: 書貢獻/報告類型會議論文篇章同行評審

摘要

In this paper, we develop a novel control strategy to constrain the internal motion of a robotic platform intended to assist surgeons in spine surgery. The targeted task consists in drilling into a specific region of vertebrae in order to position spinal implants and thus re-ensure the spine stability. The present platform includes a redundant robotic arm with 7 degrees of freedom (DoF) directly manipulated by the surgeon in a comanipulation scheme. A torque-based impedance control has been chosen to generate a compliant behavior on the whole body of the robot and thus increase the degree of safety of the robotic device. In this regard, a new control law was implemented to constrain the internal motion of the robot, i.e. the movements of its elbow, allowed by its degree of redundancy. Unlike the classical control approaches, the proposed control law implements a non-linear response of the stiffness in the null-space to better comply with the motion constraints. In order to validate the behavior of the robot using this new control law, experimental tests have been carried out and their results were compared with those obtained with a classic null-space compliance law defined in joint coordinates.

原文???core.languages.en_GB???
主出版物標題Advances in Service and Industrial Robotics - RAAD 2022
編輯Andreas Müller, Mathias Brandstötter
發行者Springer Science and Business Media B.V.
頁面325-332
頁數8
ISBN(列印)9783031048692
DOIs
出版狀態已出版 - 2022
事件31st International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2022 - Klagenfurt, Austria
持續時間: 8 6月 202210 6月 2022

出版系列

名字Mechanisms and Machine Science
120 MMS
ISSN(列印)2211-0984
ISSN(電子)2211-0992

???event.eventtypes.event.conference???

???event.eventtypes.event.conference???31st International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2022
國家/地區Austria
城市Klagenfurt
期間8/06/2210/06/22

指紋

深入研究「Null-Space Compliance with Non-linear Behavior: Application to Spine Surgery Robotic Platform」主題。共同形成了獨特的指紋。

引用此