On the control of a cooperatively robotic system by using hibrid logic algotithms

Proceedings of the Romanian Academy Series A-Mathematics Physics Technical Sciences Information Science

Veturia CHIROIU¹ 

关键词: surgical robotics;    differential logic control;    motion trajectories.;   

DOI  :  

学科分类：计算机科学（综合）

来源: Editura Academiei Romane

【 摘 要 】

A hybrid logic algorithm is presented for extending the control of a cooperatively roboticsystem by including uncertain input conditions and the hard and soft stops. The method can be used insurgical interventions where the robot and the physician are working with the same surgical tool. Theresults show that the algorithm improves the trajectory tracking performance and preventing thesurgeon-tool r to cross the critical boundaries and to move towards undesirable directions.

【 授权许可】

Unknown