DISTURBANCE FEED FORWARD CONTROL OF A HANDHELD PARALLEL ROBOT

Achim Wagner, Matthias Nübel, Essam Badreddin, Peter P. Pott, Markus L. Schwarz

Abstract

A model-based control approach for a surgical parallel robot is presented, which combines a local tool stabilization with a global disturbance feed forward control. The robot is held in the operator’s hand during the manipulation of bones. For a precise processing the tool has to be decoupled from disturbances due to unintentional hand movements of the surgeon at the robot base. The base disturbances are transformed for a feed forward control using the inverse dynamics of the robot. Simulations show that disturbances can be reduced by many orders depending on sensor errors and delay.

References

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Paper Citation


in Harvard Style

Wagner A., Nübel M., Badreddin E., P. Pott P. and L. Schwarz M. (2007). DISTURBANCE FEED FORWARD CONTROL OF A HANDHELD PARALLEL ROBOT . In Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-972-8865-83-2, pages 44-51. DOI: 10.5220/0001626500440051


in Bibtex Style

@conference{icinco07,
author={Achim Wagner and Matthias Nübel and Essam Badreddin and Peter P. Pott and Markus L. Schwarz},
title={DISTURBANCE FEED FORWARD CONTROL OF A HANDHELD PARALLEL ROBOT},
booktitle={Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2007},
pages={44-51},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001626500440051},
isbn={978-972-8865-83-2},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - DISTURBANCE FEED FORWARD CONTROL OF A HANDHELD PARALLEL ROBOT
SN - 978-972-8865-83-2
AU - Wagner A.
AU - Nübel M.
AU - Badreddin E.
AU - P. Pott P.
AU - L. Schwarz M.
PY - 2007
SP - 44
EP - 51
DO - 10.5220/0001626500440051