Аннотация:A Dual Robot Arm manipulator for executing medical procedures is studied.
An important stage of investigation is constructing a mathematical model that takes
into account useful torques produced by manipulator motors, friction of different
nature etc, as well as effects of a contact interaction between manipulator sensitive
element and soft biological tissue, and allows to create and to numerically work out
algorithms for motor control torques. Video tactile sensor is used as a sensitive
element of the manipulator. This sensor allows estimating mechanical characteristics
of soft tissue and providing control on active impact on soft tissue. During contact
interaction with soft tissue it is necessary to provide special contact conditions, such
as smoothness of approaching, applied force restrictions and so on. The control task
is to realize required indentation of sensor head into soft tissue under such
restrictions on applied force and indentation speed as well as on presence of available
observed data.