In this paper, an adaptive motion-force control scheme is presented for a networked ultrasound robotic manipulator to perform a transversal abdomen scan. An adaptive backstepping position controller is designed to ensure the stability of the ultrasound robot in the presence of parametric uncertainties and external disturbances. A proportional-integral-derivative force controller is proposed to maintain a constant interaction force during the scan process. Rather than periodic time-triggered implementation, the Lyapunov-based triggering condition is derived to update the control inputs in an aperiodic manner, reduce the communication burden, and preserve the stability of the robotic system during the task. The effectiveness of the proposed control strategy is investigated based on a comparison study with different time-triggered adaptive control schemes. Moreover, the proposed event-triggered mechanism is compared with the most common triggering conditions in literature, i.e., fixed and relative thresholds. These schemes are devoted to carry out the transversal ultrasound scan in the simulation environment. Additional validation of the proposed control scheme is performed in the virtual robot experimentation platform (V-REP). From the results of simulation and experimental runs, the proposed event-triggered control scheme is found to be more promising and efficient in robot-assisted ultrasound imaging.

在本文中，提出了一种自适应运动力控制方案，用于网络超声机器人机械手执行横向腹部扫描。自适应反步位置控制器旨在确保超声机器人在存在参数不确定性和外部干扰的情况下的稳定性。提出了比例积分微分力控制器，以在扫描过程中保持恒定的相互作用力。不是周期性的时间触发实现，而是基于李雅普诺夫的触发条件以非周期性方式更新控制输入，减少通信负担，并在任务期间保持机器人系统的稳定性。基于与不同时间触发自适应控制方案的比较研究，研究了所提出的控制策略的有效性。此外，将所提出的事件触发机制与文献中最常见的触发条件（即固定阈值和相对阈值）进行了比较。这些方案专门用于在模拟环境中进行横向超声扫描。在虚拟机器人实验平台 (V-REP) 中对所提出的控制方案进行了额外的验证。从仿真和实验运行的结果来看，所提出的事件触发控制方案在机器人辅助超声成像中更有前景和效率。固定阈值和相对阈值。这些方案专门用于在模拟环境中进行横向超声扫描。在虚拟机器人实验平台 (V-REP) 中对所提出的控制方案进行了额外的验证。从仿真和实验运行的结果来看，所提出的事件触发控制方案在机器人辅助超声成像中更有前景和效率。固定阈值和相对阈值。这些方案专门用于在模拟环境中进行横向超声扫描。在虚拟机器人实验平台 (V-REP) 中对所提出的控制方案进行了额外的验证。从仿真和实验运行的结果来看，所提出的事件触发控制方案在机器人辅助超声成像中更有前景和效率。