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Tuning of the PID controller in a varying environment is extremely difficult. For this purpose one has to use the adaptive PID controller. In the present paper a novel method for fast tuning of the PID controller has been presented and implemented on designed and developed hardware around the 89C51 microcontroller. Varying environment in the very old existing MLW-MK70, former East German bath has...
Robots are increasingly being used in computer integrated surgery (CIS) systems, yet to our knowledge, there is no open source software that is specifically targeted at this application domain. In this paper, we derive unique requirements for medical robot controllers that are based on our experiences in the field. We present an overview of the second-generation open source software package (the cisst...
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