Disturbance Observer-assisted Trajectory Tracking Control for Surgical Robot Manipulator

被引：0
|
作者：
Verma V. [1 ]
Chauhan P. [2 ]
Gupta M.K. [1 ]
机构：
[1] Department of Electrical and Electronics, University of Petroleum and Energy Studies, Dehradun
[2] Department of Analytics, University of Petroleum and Energy Studies, Dehradun
来源：
Journal Europeen des Systemes Automatises | 2019年 / 52卷 / 04期
关键词：
Disturbance observer; Dynamic modeling; Kinematics; Nonlinear control; Tracking;
D O I：
10.18280/jesa.520404
中图分类号：
学科分类号：
摘要：
This paper attempts to control the motion of a surgical robot to perform surgeries in an accurate and precise manner. In the target robot, two revolute joints, one prismatic joint and one revolute joint are connected in series, i.e. the 2PRP configuration. The external disturbances on the 2PRP robot were estimated, and the dynamic modelling of the robot was performed using the Newton-Euler formulation. Then, a control system was designed to control the robot motion by the torque computed based on the data collected by the disturbance observer, which compensates for the disturbance-induced error. The surgical robot and control system were simulated in MATLAB/Simulink. The results show that the designed control system can effectively compensate for the position error and control the robot motion in surgeries. © 2019 Lavoisier. All rights reserved.
引用
收藏
页码：355 / 362
页数：7
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