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Input-Constrained Hybrid Control of a Hyper-Redundant Mobile Medical Manipulator.

Kaibo Zhang¹, Li Chen¹, Qi Dong²

¹Shanghai, 201620 China School of Air Transportation, Shanghai University of Engineering Science.

Journal of Shanghai Jiaotong University (Science)

|February 27, 2023

Summary

A novel hyper-redundant mobile medical manipulator (HRMMM) offers a solution for reducing infection risk by performing tasks remotely. Its advanced control system ensures accurate tracking and smooth motion, even with system constraints.

Keywords:

hyper-redundant mobile medical manipulator (HRMMM)input-constrained hybrid control pose tracking pseudoinverse (PI)quadratic programming (QP)

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Area of Science:

Robotics
Medical Engineering
Control Systems

Background:

Healthcare workers face infection risks in infectious disease areas.
Remote operation of medical equipment is crucial for safety.
Advanced robotic systems are needed for precise medical tasks.

Purpose of the Study:

To develop a hyper-redundant mobile medical manipulator (HRMMM) for remote medical task execution.
To design a kinematics-based tracking algorithm for accurate pose tracking.
To create a robust control strategy addressing system constraints.

Main Methods:

Established a kinematic model and deduced the global Jacobian matrix of the HRMMM.
Developed a tracking error expression using Rodrigues' rotation formula.
Implemented a hybrid pseudo-inverse (PI) and quadratic programming (QP) controller with constraint handling.

Main Results:

Achieved highly accurate pose tracking for the HRMMM.
Demonstrated smooth motion trajectories for the manipulator.
Successfully managed input constraints through a variable-substitution and normalization method.

Conclusions:

The proposed HRMMM effectively performs contact tasks, reducing infection risk for medical personnel.
The developed kinematics-based tracking and hybrid control strategies ensure precise and safe remote operations.
The system demonstrates adaptability to real-time motion control requirements and physical system constraints.