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In order to realize the stabilization and the tracking performance of MIS (minimally invasive surgical) robot control system in the presence of uncertainty in the system dynamics, the linearization of the MIS tele-operation system model is processed firstly. Furthermore, the robust control problem is formulated as a robust state feedback stabilization problem subject to parameter uncertainties and...
In this paper, a new position domain PD control is proposed focusing on improving contour tracking performance of robotic systems. First, a robotic system is treated as a master-slave system where the master motion is used as an independent reference through equidistantly sampling, while the slave motion is described as a function of the master motion according to contour trajectory requirements....
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