Dynamic Control Strategies for Cable-Driven Master Slave Robots

Elmar Rueckert, Philipp Jauer, Alexander Derksen, Achim Schweikard


Abstract: Controlling cable driven master slave robots is a challenging task. Fast and precise motion planning requires stabilizing struts which are disruptive elements in robot-assisted surgeries. In this work, we study parallel kinematics with an active deceleration mechanism that does not require any hindering struts for stabilization. Reinforcement learning is used to learn control gains and model parameters which allow for fast and precise robot motions without overshooting. The developed mechanical design as well as the controller optimization framework through learning can improve the motion and tracking performance of many widely used cable-driven master slave robots in surgical robotics.
Original languageEnglish
Publication statusPublished - 01.01.2019
EventProceedings on Minimally Invasive Surgery 2019
- Lübeck, Germany
Duration: 24.01.201925.01.2019


ConferenceProceedings on Minimally Invasive Surgery 2019


Dive into the research topics of 'Dynamic Control Strategies for Cable-Driven Master Slave Robots'. Together they form a unique fingerprint.

Cite this