基于输入-输出稳定性理论的手术机器人控制

Abstract

Surgical robots are usually controlled by the method of independent PD or the PD model based on gravity compensation.However,after both of the control models imported,the equation of the closed-loop error is linear.The two models cannot use the dynamics effectively.According to this problem,a control model based on Input-Output stability theory is proposed.The closed-loop error of this model is non-linear,accord with the essence of the robot.Then the position tolerance of PD control based on gravity compensation and that of control based on Input-Output stability theory are compared by Matlab software.The maximal tolerance of the robot end-effector is 0.15 mm.