The Study Of Haptic Representation System Of Teleoperstion Mis Robot

Force telepresence is the key technique to ensure the accuracy and safety of a surgery inteleoperation minimally invasive surgical (MIS) robot system. And the realization of the forcesense is done through the master manipulator device. The master manipulator is not only aninput device which make real-time from the hand end of the motion control to end of the slavehand, but also a force telepresence device which provides the users with interaction forcesbetween surgical instruments and the surrounding environment of the focus. It also linksdoctors with the surgical robot close. Therefore, the dynamic performance of the force sensedevice will directly affect the effect of force telepresence, thereby affecting the safety andreliability of the surgical operation. The paper has done the following research work toimprove the effect of the force sense reproduction of force master manipulator.The paper first introduces the overall composition and the basic control module of forcetelepresence system of the teleoperation MIS robot, and analyses the master manipulator’soperating mode combined with the characteristics and requirements of MIS. It also makeskinematics and dynamics analysis for the main structure of the selected master manipulator.Vector analysis was introduced in kinematics analysis, so it makes the process of eliminationmethod very simple. And geometric analysis is used to do kinematics operations for themaster manipulator. It simplifies the kinematics solution algorithm, and establishes the rigidbody dynamics model of master manipulator. By analyzing the theory and control algorithmsof the controller force telepresence in the fourth part of paper, aimed at that when the mastermanipulator is in direct drive mode, the force telepresence performance is easy to be affectedby torque ripple of brushless DC motor, it introduces a direct torque control method tosuppress the torque ripple, and verify the feasibility and effectiveness through the simulationresults. Through the experiment it can be got that, direct torque control algorithm can inhibitthe motor torque ripple well, and when the load transfer moment changes abruptly, the motoroutput torque has a very fast response speed. And the direct torque control algorithm has ahigh dynamic performance for the torque control. Rational threshold of the torque hysteresisregulator will be made the permanent magnet brushless DC Motor Torque Ripple in the idealrange. The fifth part of the test verifies the torque ripple suppression algorithm of torquemotor of the controller on the experiment platform.The innovation of this paper is to combine the vector method and geometric method toset up the dynamic model of master manipulator, and simplifies kinematics solution processof the master manipulator. When the master manipulator is drove in the direct drive mode, theperformance of force telepresence will be affected by the brushless DC motor torque ripple.Aim at this problem, we adopt direct torque control algorithm to make effectively suppress totorque ripple of controller torque motor and make a verification analysis.