title: Evaluation of low-level controllers for an orthopedic surgery robotic system.
abstract: 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.
authors.affiliation: Department of Electrical and Electronics Engineering, Yeditepe University, Istanbul 34755, Turkey. duygunerol@yeditepe.edu.tr
authors.forename: Duygun Erol
authors.initials: DE
authors.lastname: Barkana
mesh_terms: D009038:Motion; D009985:Orthopedics; D012371:Robotics; D035501:Uncertainty