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：基于能源的控制方法是现代机器人控制算法的核心。 在本文中,我们提出了一个虚拟模型/机械控制的一般方法,这是一个强大的设计工具,可以创建基于能源的控制器。我们提出了两种新颖的虚拟机械,用于机器人最小侵入性外科手术,在通过切口时控制外科器的位置。我们对这些虚拟机制采用了Larby和Forni 2022的参数调整方法,该方法在确保全球稳定的同时优化了当地性能。