Energy based control methods are at the core of modern robotic control algorithms. In this paper we present a general approach to virtual model/mechanism control, which is a powerful design tool to create energy based controllers. We present two novel virtual-mechanisms designed for robotic minimally invasive surgery, which control the position of a surgical instrument while passing through an incision. To these virtual mechanisms we apply the parameter tuning method of Larby and Forni 2022, which optimizes for local performance while ensuring global stability.

翻译：基于能量的控制方法是现代机器人控制算法的核心。本文提出了一种虚拟模型/机构控制的通用方法，这是一种用于构建基于能量控制器的强大设计工具。我们针对机器人微创手术设计了两种新型虚拟机构，用于控制手术器械在穿过切口时的位置。针对这些虚拟机构，我们应用了Larby与Forni（2022年）提出的参数整定方法，该方法在确保全局稳定性的同时优化局部性能。