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Evaluation of Low-Level Controllers for an Orthopedic Surgery Robotic System

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1 Author(s)
Duygun Erol Barkana ; Department of Electrical and Electronics Engineering, Yeditepe University, Istanbul, Turkey

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.

Published in:

IEEE Transactions on Information Technology in Biomedicine  (Volume:14 ,  Issue: 4 )