부산대학교 도서관

In vascular interventional surgical robot, performance of displacement is one of the criteria for evaluating whether the robot’s system can safely complete the operation. However, there is a pure time delay phenomenon which caused by motor of the slave side and also the data processing for the robot’s system. These factors will reduce the control performance of the vascular interventional surgical robot and even cause the system is unstable, which makes the analysis of the system very complicated. In order to this situation, this paper proposed an algorithm combining fuzzy PID and improved smith estimation compensation, which reduces the error and time delay of vascular interventional surgical robot caused by time delay and improves the following ability of master and slave vascular interventional surgical robot. Finally, this paper verified the effectiveness of the algorithm through the tracking experiment of master-slave’s tracking experiment. It showed the improved algorithms can improve the real-time and accuracy of the control system for the robot.