Evaluation of low-level controllers for an orthopedic surgery robotic system.
In this paper, a computed-torque control and disturbance-observer-based control were evaluated for an orthopedic surgery robotic system called OrthoRoby, to track bone-cutting trajectory. Robust motion control is required to control a medical robotic system in an environment where model uncertainty and disturbances exist. Experiments were performed to demonstrate the performance of the tracking of the desired cutting trajectory when a computed-torque controller and disturbance-observer-based controller were used for OrthoRoby. It was observed that a computed-torque controller can become unstable with inexact cancellation due to parameter uncertainties and unmodeled dynamics. A disturbance-observer-based control was shown to ensure stability with inexact cancellation due to parameter uncertainties and unmodeled dynamics.
Barkana
Duygun Erol
DE
Department of Electrical and Electronics Engineering, Yeditepe University, Istanbul 34755, Turkey. duygunerol@yeditepe.edu.tr
D009038:Motion; D009985:Orthopedics; D012371:Robotics; D035501:Uncertainty