Abstract
With the development of robotics, it will be possible for fracture reduction robots to replace doctors in performing surgery operations. The surgery accuracy and safety by the reduction robot is important. In order to compensate various uncertainties and nonlinear problems in the reduction robot impedance control system, this paper proposes a fuzzy adaptive sliding mode impedance control of the reduction robot, which includes force residual observer (FRO) and fuzzy adaptive sliding mode controller (FASMC). The FRO is used to estimate the external force between the reduction robot and the fractured musculoskeletal tissue in real-time, no force sensor is installed at the end-effector of reduction robot. The FASMC mainly includes three parts: linearizing the system by inverse dynamics and PD control, improving the system's robustness by the sliding mode control and fuzzy adaptive switching gain to reduce chattering, eliminating the nonlinear disturbance term of the system, and the normalized factor linear combination fuzzy system is used to compensate. The co-simulation of the fracture reduction robot shows that the FASMC impedance control method has a better steady-state position and force tracking accuracy, the steady-state position accuracy is -0.733 mm, and the steady-state force accuracy is -2.12 N. This paper provides an effective method for impedance control of the fracture reduction robot.
Highlights
The surgical effect of the traditional fracture reduction surgery mainly depends on the doctor’s experience
Where εmax σ, σ is the upper limit of ε, KD 0, u Mq Cq G F is the inverse dynamics controller (IDC), u φθξ s, s is the fuzzy control (FC), u σsat s is the SLIDING MODE CONTROLLER (SMC), u KDs s is the Proportion Differentiation (PD) controller
It is known that the force residual observer (FRO) is used to estimate the reduction force online, which can replace the force sensor to realize the impedance control of the reduction robot based on position correction, and complete the tracking of the desired trajectory and reduction force
Summary
The surgical effect of the traditional fracture reduction surgery mainly depends on the doctor’s experience. Zhou et al proposed a SMC for position control in the position-based impedance control strategy to ensure that the system can track the force and position under the influence of external disturbance and modeling error [20]. This paper’s main contributions are as follows: 1) In the paper, an impedance control method is proposed to study the position/force control of reduction robots, including fuzzy adaptive sliding mode controller (FASMC) and force residual observer (FRO). The inverse dynamic model is used to linearize the system; The SMC and FC are used to reduce the chattering phenomenon and improve the system’s robustness; the linear combination fuzzy system with normalization factor is used to compensate for the nonlinear disturbance term of the system.
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