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UBC Theses and Dissertations
Design and control of a bilateral motion-scaling system using magnetic levitation Yan, Joseph
Abstract
Microsurgery is an ideal field to utilize the advantages of robotic technology because the tasks involve tool positioning and force sensing capabilities beyond the normal range of human abilities. A robotic manipulator that can reliably extend the surgeon’s manipulation ability by scaling down hand motions and scaling up tool forces would be extremely useful in facilitating microsurgery and alleviating the physical and psychological stress many microsurgeons face in their work. The work described involves the development of a prototype bilateral teleoperation system for experiments in microsurgery. A dual-stage approach is proposed in which two magnetically levitated wrists (a macro-master and a micro-slave) would share a common base positioned at the surgical site by a coarse-motion transport robot. The system hard ware is described in the first part of the thesis including a discussion on the proposed features and the issues in the slave wrist design. In the second part, aspects of coordi nation and control both at the coarse-positioning stage and the fine-motion scaling level are presented. More specifically, an H-based approach to controller design permitting a convenient means to find a compromise between performance and robustness is presented and then experimentally demonstrated.
Item Metadata
Title |
Design and control of a bilateral motion-scaling system using magnetic levitation
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Creator | |
Publisher |
University of British Columbia
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Date Issued |
1994
|
Description |
Microsurgery is an ideal field to utilize the advantages of robotic technology because the
tasks involve tool positioning and force sensing capabilities beyond the normal range of
human abilities. A robotic manipulator that can reliably extend the surgeon’s manipulation
ability by scaling down hand motions and scaling up tool forces would be extremely useful
in facilitating microsurgery and alleviating the physical and psychological stress many
microsurgeons face in their work.
The work described involves the development of a prototype bilateral teleoperation
system for experiments in microsurgery. A dual-stage approach is proposed in which two
magnetically levitated wrists (a macro-master and a micro-slave) would share a common
base positioned at the surgical site by a coarse-motion transport robot. The system hard
ware is described in the first part of the thesis including a discussion on the proposed
features and the issues in the slave wrist design. In the second part, aspects of coordi
nation and control both at the coarse-positioning stage and the fine-motion scaling level
are presented. More specifically, an H-based approach to controller design permitting a
convenient means to find a compromise between performance and robustness is presented
and then experimentally demonstrated.
|
Extent |
3751427 bytes
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Genre | |
Type | |
File Format |
application/pdf
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Language |
eng
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Date Available |
2009-02-24
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Provider |
Vancouver : University of British Columbia Library
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Rights |
For non-commercial purposes only, such as research, private study and education. Additional conditions apply, see Terms of Use https://open.library.ubc.ca/terms_of_use.
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DOI |
10.14288/1.0087367
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URI | |
Degree | |
Program | |
Affiliation | |
Degree Grantor |
University of British Columbia
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Graduation Date |
1994-05
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Campus | |
Scholarly Level |
Graduate
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Aggregated Source Repository |
DSpace
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Item Media
Item Citations and Data
Rights
For non-commercial purposes only, such as research, private study and education. Additional conditions apply, see Terms of Use https://open.library.ubc.ca/terms_of_use.