中文摘要：

遥微操作机器人是一种应用于医疗、微生物工程及微机械等领域的特殊遥操作机器人系统,文中主要针对面向微创外科手术系统的遥微操作机器人系统中,操作者及作业环境往往具有时变性而易导致系统不稳定且难以控制的问题,在已有的动力学模型的基础上,设计了一种新型的滑模变结构控制方案,在该方案中主机械手采用阻抗控制而从机械手采用滑模变结构控制策略。仿真实验结果表明了方案的有效性和鲁棒性,系统能较好地实现位置比例跟踪和力比例跟踪。

英文摘要：

Tele-micromanipulation robot is a special tele-manipulation robot system used invasively in medicine,micro-bioengineering and micro-mechanical system.The system for MIS technologies in medicine may become unstable because the operater and operating-environment sometimes have time-varying characteristics.In order to solve this problem,a new sliding-mode controller scheme is designed,in which the impedance control is used for the master device,while the sliding-mode control is used for the slave device.The simulation results manifest the validity and robustness of the designed controllers and the system can attain better scaled tracking of placement and force.