Motion Control of a Robotic Lumbar Spine Model

The study of the movement of the vertebrae of the lumbar spine is classified as a relevant theme for research, considering the possibility of exploring the pathological dysfunctions of this region. This paper presents the development of a trajectory motion control for a lumbar spine model. The spine model is being represented by a 2 DOF (Degrees of Freedom) manipulator robot, which represents the motion of two lumbar vertebrae. For the computational simulations of the controlled spine behavior the mathematical dynamic model of the manipulator based on the Lagrange approach is being considered. Preliminary simulation results show that the implemented conventional controller robustly follows the references given for the angles of the vertebrae, guaranteeing the planned movement.