Research On Modeling, Analysis And Fuzzy Sliding Mode Control Of The TMIS System

The tele-manipulation robot system is one kind of remote manipulated system. It can finish complicated manipulation subtly under the hazardous conditions that men can not approach.Minimally Invasive Surgery (referred to as MIS) is a surgical technique which rised in the 1980s. the traditional MIS can benefit patients, but make surgeon exhausted for a long time operation nervously, resulting in increased risk. TMIS which is the tele-manipulation robot system combined with MIS technology can overcome the flaws of traditional MIS technology, and can be used as training tools. So the research for the TMIS has great value in the actual application prospects and theoretical research significance.First, we have introduced the research background, developing state and developing tendency of the TMIS.Second, studies on the structure and work principle of TMIS with 1-DOF are introduced. For the slave link-flexibility and joint-elasticity which occurs in applications of TMIS, the dynamic model for single-link flexible slave is established by applying Lagrange and assumed mode methods; For the slave joint-elasticity, the dynamic model for single-joint flexible slave with centralized mass is recommended.Thirdly, we have studied stabilities and ideal performances of the TMIS with elastic-joint slave manipulator based two-port network model theory, and proposed the tradeoffs between stabilities and ideal performances.Then, we have introduced the basic theory and methods about the fuzzy sliding mode variable structure control. for the TMIS with elastic-joint slave manipulator, we design a new sliding mode controller; for the experimental system model existing with the rigid arms and communication time delay between the master and the slave, we design a fuzzy sliding mode controller based on equivalent control. Some controllers have been simulated by simulink in matlab works. Simulation results demonstrate both the salve and the master have good tracks of position at the free status, and the controller can achieve good tracks of position and force between master and slave at no free status too. To some extent, the system can inhibit small time delay existing, and achieve the design goals.Last, we achieve the designed fuzzy sliding mode controller under Vc++6.0 environment based on one-DOF TMIS experimental system, and achieve tracks of position and force. The Simulation and experimental results indicate: the fuzzy sliding mode controller designed in this thesis can satisfy the requirement of TMIS's performances and stability well. For the slave flexibility which occurs in the TMIS, the flexible manipulator dynamics model established is accurate comparatively, also have laid a good foundation for further study.This project is supported by the National Natural Science Foundation project: Research on Theory and Menthod of Tele-micromanipulation robot system with Force Telepresent (60575051).