Impedance controller of remote ultrasound diagnostic system
نویسندگان
چکیده
منابع مشابه
Impedance Controller for a Remote Ultrasound Diagnostic System
A master-slave type remote ultrasound diagnostic system was developed. This paper presents its controller. The controller has impedance control capability for the master and slave manipulators' positions. And it has also continuous path(CP) control capability for the slave manipulator's orientation. The impedance control allows the master and slave manip-ulators to move according to the motion ...
متن کاملImpedance controller and its clinical use of the remote ultrasound diagnostic system
A master-slave type remote ultrasound diagnostic system was developed. This paper presents and evaluates its control strategy. There is only one impedance controller that is located in the master site or the slave site or the relay point in the conventional impedance controller. Therefore, the effect of the time lag in transmitting force and position data becomes large in the conventional syste...
متن کاملContinuous Path Controller of Slave Manipulator in Remote Ultrasound Diagnostic System
A master-slave type remote ultrasound diagnostic system was developed. The controller has impedance control capability for the master and slave manipulators' positions. And it has a Continuous Path(CP) control capability for the slave manipula-tor's orientation. This paper presents the controller of the slave manipulator's orientation. The remote ul-trasound diagnostic system is one of remote m...
متن کاملDynamic Switching of a Controller Based on Diagnostic Tasks in Remote Ultrasound Diagnostics
The controller we developed for master-slave remote ultrasound diagnostics for an aging society has a variable impedance control capabi l i ty for master/slave manipulator positions. Diagnostic tasks are classified in remote ultrasound diagnosis, then methods and devices are proposed to change virtual viscosity based on diagnostic tasks. Remote ultrasound diagnostic experiments demonstrated tha...
متن کاملAn Adaptive Impedance Controller for Robot Manipulators
A desired dynamic behavior of constrained manipulators can be achieved by means of impedance control and various implementations of fixed controllers have been proposed. In this paper, and adaptive implementation is presented as an alternative to reduce the design sensitivity due to manipulator mismatch. The adaptive controller globally achieves the impedance objective for the nonlinear dynamic...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Journal of the Japan Society for Precision Engineering
سال: 2003
ISSN: 1882-675X,0912-0289
DOI: 10.2493/jjspe.69.1159