Position Control and Vibration Suppression for Flexible-Joint Surgical Robot

摘要

To achieve vibration suppression and precise position control for minimally invasive surgical robot during intraoperative operation, a compound control method composed of an input shaper and a pole-placement predictive function controller (PPFC) is proposed. First, the flexible-joint dynamic model of the 3-degree of freedom remote center motion (RCM) mechanisms of minimally invasive surgery robot is linearized by using the gravity compensation, and then the linearized dynamic model is decomposed into four parallel first-order sub-models. Next, PPFC is used to realize the position tracking of the robotic arm in the movement, and ZV input shaping is used to suppress the residual vibration of flexible-joint manipulator after stopping motion. Finally, the comparative experiments are conducted to evaluate the performance of the proposed method.