Haptic tele-operation system control design for the ultrasound task: A loop-shaping approach
Identifieur interne : 000E36 ( PascalFrancis/Curation ); précédent : 000E35; suivant : 000E37Haptic tele-operation system control design for the ultrasound task: A loop-shaping approach
Auteurs : C. J. Zandsteeg [Pays-Bas] ; D. J. H. Bruijnen [Pays-Bas] ; M. J. G. Van De Molengraft [Pays-Bas]Source :
- Mechatronics : (Oxford) [ 0957-4158 ] ; 2010.
Descripteurs français
- Pascal (Inist)
- Téléopération, Synthèse commande, Commande force, Transducteur ultrason, Commande robuste, Passivité, Application médicale, Relation homme machine, Sensibilité tactile, Ultrason, Equilibrage, Système 5 degrés liberté, Critère performance, Méthode pas à pas, Méthode domaine fréquence, Filtrage fréquence, Modélisation, Echocardiographie, Etude expérimentale, ., Modelage de boucle.
English descriptors
- KwdEn :
- Balancing, Control synthesis, Echocardiography, Experimental study, Force control, Frequency domain method, Frequency filtering, Loop shaping, Man machine relation, Medical application, Modeling, Passivity, Performance requirement, Remote operation, Robust control, Step by step method, System with five degrees of freedom, Tactile sensitivity, Ultrasonic transducer, Ultrasound.
Abstract
This paper introduces a step-by-step frequency domain loop-shaping procedure for tele-operation system controllers, in particular for the three-channel Environment Force Compensation (EFC) control architecture. The framework is explained by designing a controller for a tele-operated 5-DOF probe for ultrasound echo-cardiography. Models of the tele-operation system components are created and performance requirements are specified. A control design procedure is proposed using a generic tele-operation block-scheme. In this procedure, the choice for the EFC control architecture is underpinned and guidelines for the loop-shaping of this tele-operation controller for performance and stability robustness are given. The designed controllers are tuned using the introduced procedure. Passivity, performance and stability robustness of the newly designed controller are evaluated using experiments.
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<front><div type="abstract" xml:lang="en">This paper introduces a step-by-step frequency domain loop-shaping procedure for tele-operation system controllers, in particular for the three-channel Environment Force Compensation (EFC) control architecture. The framework is explained by designing a controller for a tele-operated 5-DOF probe for ultrasound echo-cardiography. Models of the tele-operation system components are created and performance requirements are specified. A control design procedure is proposed using a generic tele-operation block-scheme. In this procedure, the choice for the EFC control architecture is underpinned and guidelines for the loop-shaping of this tele-operation controller for performance and stability robustness are given. The designed controllers are tuned using the introduced procedure. Passivity, performance and stability robustness of the newly designed controller are evaluated using experiments.</div>
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