Dynamic Control Strategies for Cable-Driven Master Slave Robots

Elmar Rueckert; Philipp Jauer; Alexander Derksen; Achim Schweikard

Dynamic Control Strategies for Cable-Driven Master Slave Robots

Elmar Rueckert, Philipp Jauer, Alexander Derksen, Achim Schweikard

Abstract

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 language	English
Publication status	Published - 01.01.2019
Event	Proceedings on Minimally Invasive Surgery 2019 - Lübeck, Germany Duration: 24.01.2019 → 25.01.2019

Conference

Conference	Proceedings on Minimally Invasive Surgery 2019
Country/Territory	Germany
City	Lübeck
Period	24.01.19 → 25.01.19

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 3 Good Health and Well-being
SDG 9 Industry, Innovation, and Infrastructure

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https://journals.infinite-science.de/index.php/mic/article/view/228

Cite this

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title = "Dynamic Control Strategies for Cable-Driven Master Slave Robots",

abstract = "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. ",

author = "Elmar Rueckert and Philipp Jauer and Alexander Derksen and Achim Schweikard",

year = "2019",

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language = "English",

note = "Proceedings on Minimally Invasive Surgery 2019<br/> ; Conference date: 24-01-2019 Through 25-01-2019",

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T1 - Dynamic Control Strategies for Cable-Driven Master Slave Robots

AU - Rueckert, Elmar

AU - Jauer, Philipp

AU - Derksen, Alexander

AU - Schweikard, Achim

PY - 2019/1/1

Y1 - 2019/1/1

N2 - 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.

AB - 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.

UR - https://www.rob.uni-luebeck.de/index.php?id=276&author=0:2904&L=0

M3 - Conference Papers

T2 - Proceedings on Minimally Invasive Surgery 2019<br/>

Y2 - 24 January 2019 through 25 January 2019

ER -

Dynamic Control Strategies for Cable-Driven Master Slave Robots

Abstract

Conference

UN SDGs

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