Authors:
Achim Wagner
1
;
Matthias Nübel
1
;
Essam Badreddin
1
;
Peter P. Pott
2
and
Markus L. Schwarz
2
Affiliations:
1
Automation Laboratory, University of Mannheim, Germany
;
2
Laboratory for Biomechanics and experimental Orthopaedics, OUZ, Faculty of Medicine Mannheim, University of Heidelberg, Germany
Keyword(s):
Robotic manipulators, Medical systems, Dynamic modelling, Disturbance rejection, Feedforward compensation.
Related
Ontology
Subjects/Areas/Topics:
Human Augmentation and Shared Control
;
Informatics in Control, Automation and Robotics
;
Modeling, Simulation and Architectures
;
Robot Design, Development and Control
;
Robotics and Automation
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.