一种具有力检测机制的新型血管介入手术机器人

陈翼楠,蒲志新,郑珍妮

A novel vascular interventional surgery robot with force detection mechanism

Yi-nan CHEN,Zhi-xin PU,Zhen-ni ZHENG

表3 输出变量ΔKP 、ΔKI 和ΔKD 的模糊控制规则

Table 3 Fuzzy control rules for output variables ΔKP , ΔKI and ΔKD

e ec NB NM NS ZE PS PM PB NB PB/NB/PS PB/NB/NS PM/NM/NB PM/NM/NB PS/NS/NM ZE/ZE/NM ZE/ZE/PS NM PB/NB/PS PB/NB/NS PM/NM/NB PM/NS/NM PS/NS/NS ZE/ZE/NS NS/ZE/ZE NS PM/NB/ZE PM/NM/NS PM/NS/NM PS/NS/NM ZE/ZE/NS NS/PS/NS NS/PS/ZE ZE PM/NM/ZE PM/NM/NS PS/NS/NS ZE/ZE/NS NS/PS/NS NM/PM/NS NM/PM/ZE PS PS/NM/ZE PS/NS/ZE ZE/ZE/ZE NS/PS/ZE NS/PS/ZE NM/PM/ZE NM/PB/NS PM PS/ZE/PB ZE/ZE/PS NS/PS/PM NM/PS/PS NM/PM/PS NM/PB/PS NB/PB/PB PB ZE/ZE/PB ZE/ZE/PM NM/PS/PM NM/PM/PM NM/PS/PS NB/PB/PS NB/PB/PB