Designing Inverse Dynamic Controller with Integral Action for Motion Planning of Surgical Robot in the Presence of Bounded Disturbances

Robotic laparoscopic grasper is a surgical tool with minimal invasion. In this robot, achieve goals like precise tracking, stability and disturbance rejection are very important.In this paper, first the stages of modeling and simulating of laparoscopic robot will be discussed and the reasons forselecting the appropriate materials for different parts ofproposed practical robot will be explained. Inverse dynamic controller with integral action is applied to improve theaccuracy of tracking procedure for a surgical manipulator to track a specified reference signal in the presence of tremor thatis modeled as constant bounded disturbance. Based on thedisturbance rejection scheme, tracking controller is constructed which is asymptotically stabilizing in the sense of Lyapunov. Itis shown that how under proper assumptions; the selected schemes succeed in achieving disturbance rejection at the inputof a nonlinear system. Computer simulation results demonstrate that accurate trajectory tracking can be achieved by using the proposed controller.

کلیدواژه ها:

Tracking problem ، Surgical robot ، Inverse dynamic control ، Disturbance rejection ، Lyapunov Stability