Analysis of robust control method for the flexible manipulator in reliable operation of medical robots during COVID-19 pandemic

Abstract

A novel coronavirus disease (COVID-19) is transmitting throughout the globe. During this Pandemic situation, medical robots are playing an important role in protecting front line medical staff from this disease. The flexible robotic manipulator has mechanical flexibility, due to that fluctuation or oscillations can be seen either during or after the movement of a manipulator and can create uncertainty in medical operations. During this pandemic situation, reliable operations of these robots are necessary that depend upon the stability of flexible manipulators. In this article, Linear Quadratic Regulator (LQR), Pole Placement, and Proportional-Integral-Derivatives (PID) control methods have been used to investigate the robust control method for controlling the position of manipulator with flexible link in medical robots. To carry out this research, an effective variant of the flexible Link robotic manipulator has been used as a framework to analyze the robust control method. The Matlab®/Simulink result shows that the LQR control method provides better control response compared to PID and pole placement method and thus provides reliable operation to Medical Robots.