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Designing inverse dynamic controller with integral action for motion planning of surgical robot in the presence of bounded disturbances

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Document pages: 6 pages

Abstract: Robotic laparoscopic grasper is a surgical tool with minimal invasion. Inthis robot, achieve goals like precise tracking, stability and disturbancerejection are very important. In this paper, first the stages of modeling andsimulating of laparoscopic robot will be discussed and the reasons forselecting the appropriate materials for different parts of proposed practicalrobot will be explained. Inverse dynamic controller with integral action isapplied to improve the accuracy of tracking procedure for a surgicalmanipulator to track a specified reference signal in the presence of tremorthat is modeled as constant bounded disturbance. Based on the disturbancerejection scheme, tracking controller is constructed which is asymptoticallystabilizing in the sense of Lyapunov. It is shown that how under properassumptions; the selected schemes succeed in achieving disturbance rejection atthe input of a nonlinear system. Computer simulation results demonstrate thataccurate trajectory tracking can be achieved by using the proposed controller.

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