Abstract

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Title:: Adaptive impedance control of dual-arm surgical robot based on disturbance observer

Author(s):: LI Guoqi; HU Zhi; CHEN Ziyu; SUN Liyan; School of Electric and Electronic Engineering, Shanghai University of Engineering Science, Shanghai 201620, China

Keywords:: Keywords: surgical robot dual-arm collaboration impedance control motion tracking

Abstract:: Abstract: To overcome the problem that the dual-arm robot cannot effectively track the target speed and target position due to changes in environmental parameters in robot-assisted craniomaxillofacial surgery, and to address the issue of the unknown disturbance in the robotic arm system model itself, a dual-arm surgical robot based on disturbance observer is proposed for adaptive impedance control. The method compensates for the disturbance of the robotic arm caused by changes in environmental parameters, adaptively adjusts the impedance control model, and improves the speed and position tracking performance of the dual-arm robot during the surgery, so as to ensure that the dual-arm robot can meet the safety requirements in the actual surgical scenarios. The experimental results show that in the craniomaxillofacial surgery environment with variable parameters, the control strategy can better overcome the uncertainties of the robotic arm itself and the disturbance of changes in environmental parameters. The optimizations of position tracking and speed tracking reach 9.5% and 13% the peak position error is reduced by 60% and the number of oscillations of the position error of the dual arms is decreased by 50%, which makes the dual arms converge to the desired trajectory faster, verifying the reliability of the improved control strategy.