Abstract
Medical robots are in great demand for orthopedic surgery. The robotic control could be divided into two layers, the top layer and the bottom layer (also called joint control). However, how to improve the dynamic performance of joint control is still a challenging issue. Traditional PID control and PID-based sliding mode control are commonly used methods for the joint control of medical and industrial robots. In this paper, the proposed joint control is based on dynamic compensation. Dynamic compensation includes inertia and friction. The joint control diagram includes PID, sliding mode control, and adaptive dynamic compensation as a module unit. The design of the proposed joint control method could overcome the disadvantages of model uncertainty and dynamic disturbances and improve robot dynamic performance. Additionally, since control feedback is based on the joint position encoder, position encoder analysis is included in this paper. The dynamic performance of the proposed joint control was tested on the six-DoF medical robot, and the indexes of rising time, task space tracking, and contact space tracking were adopted to evaluate the dynamic performance. The experimental results show that the proposed control method has a much smaller rising time than the commercial controller product. The control proposed in this paper realized low delay control and improved the dynamic response of the control.
Highlights
Many medical robots are being developed for surgery (Figure 1 shows examples of medical robot applications) to realize better operation performance that is more precise and minimally invasive, compared with traditional manual procedures.Research related to medical robots for orthopedic surgery began in the mid-1980s [1, 2]
The orthopedic medical robots are supposed to play an important role in orthopedic surgery
Since PID fails in the case of uncertain environment, to realize high-precision trajectory tracking under model uncertainty and external disturbances, researchers have adopted a sliding mode control (SMC) method that includes PID and sliding mode control
Summary
Many medical robots are being developed for surgery (Figure 1 shows examples of medical robot applications) to realize better operation performance that is more precise and minimally invasive, compared with traditional manual procedures. How to improve the control performance and reduce the delay time of joint control [8] is still a challenging issue in robotics. With the development of robotic applications, traditional joint control cannot meet the requirements that are of good dynamic characteristics and high precision result [10]. Since PID fails in the case of uncertain environment, to realize high-precision trajectory tracking under model uncertainty and external disturbances, researchers have adopted a sliding mode control (SMC) method that includes PID and sliding mode control. The main contribution of the proposed method over the previous methods is the joint control diagram which includes PID, sliding mode control, and adaptive dynamic compensation as a module unit. The design of the proposed joint control method could overcome the disadvantages of model uncertainty and dynamic disturbances and improve the dynamic performance of robot.
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