The Robotics Institute

Carnegie Mellon Robotics Institute

Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.

Abstract

This paper presents the development and initial results of a controller based on a novel rate-dependent hysteresis model. The controller has been developed for "Micron", a microsurgical instrument designed to sense and actively cancel tremor and other undesired motion during vitreoretinal intervention. To accomplish this, Micron uses a three-degree-of-freedom parallel manipulator with piezoelectric actuation. In order to achieve high accuracy it is necessary to deal with the hysteresis of the piezoelectric actuators. Most hysteresis models are based on elementary rate-independent operators and are not suitable for modeling actuator behavior across a wide frequency band. This work proposes a rate-dependent controller, based on a modification of the rate-independent Prandtl-Ishlinskii (PI) model, to counteract hysteresis during open-loop control of piezoelectric actuators tracking multi-frequency motion profiles. In experiments tracking real tremor, it consistently outperforms its rate-independent counterpart.

Keywords

control, hysteresis, medical robotics

Notes

Associated Center(s) / Consortia: Medical Robotics Technology Center

Associated Lab(s) / Group(s): Surgical Mechatronics Laboratory

Associated Project(s): Micron: Intelligent Microsurgical Instruments

Number of pages: 4

Text Reference

Francisoco Alija-Garm?, Wei-Tech Ang, Pradeep Khosla, and Cameron Riviere, "Rate-dependent inverse hysteresis feedforward controller for microsurgical tool," 25th Annual Conference IEEE Engineering in Medicine and Biology Society, September, 2003, pp. 3415 - 3418.

BibTeX Reference

@inproceedings{Ang_2003_4605,
   author = "Francisoco Alija-Garm? and Wei-Tech Ang and Pradeep Khosla and Cameron Riviere",
   title = "Rate-dependent inverse hysteresis feedforward controller for microsurgical tool",
   booktitle = "25th Annual Conference IEEE Engineering in Medicine and Biology Society",
   pages = "3415 - 3418",
   month = "September",
   year = "2003",
}

The Robotics Institute

Menu