Modeling and Control of Three-degree-of-freedom Medical Assistant Robot

With the continuous development of robotics and medical technology, medical assistive robots have been greatly developed in the field of medical science. The use of medical assisted robots can help patients reduce postoperative pain, and can make the patient's recovery speed relatively faster and the incision smaller. However, as an auxiliary medical technology, robots are susceptible to the influence of external factors when they are running, and there is uncertainty. Therefore, it is necessary for us to conduct modeling research on medical assistant robots. This article will focus on the three-degree-of-freedom medical assistant robot and analyze the basic motion law of the robot. In addition, the author carried out dynamic modeling and designed a set of suitable tracking controllable system, which has better tracking accuracy and dynamic performance under rigorous calculation.