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[209] Citation: Abstract
In robot-assisted surgery, surgical tools interact
with tissues that have nonlinear mechanical properties. For
situations where a pre-specified trajectory of tool positions
(or applied forces) is desired, there are many controller designs
that might be used. Four candidates are comparatively
evaluated here, via computer simulation involving a nonlinear
model of soft tissue behavior during grasping actions. The
parameters for this model were obtained experimentally (in
earlier work). The four candidate controllers are: (1) a welltuned
PID controller; (2) feedback linearization in combination
with deadbeat control; (3) an optimal open-loop control law
obtained via minimization of a quadratic cost function; and
(4) a model predictive controller. Simulation trials are used
to compare the transient performance of these candidate
controllers under different assumptions regarding input and
output noises. The conditions where each of the candidates is
best are characterized.
Index Terms—Robot-Assisted Surgery, Transient Control,
Trajectory Following, Soft Tissue Grasping, PID control, Feedback
Linearization, Deadbeat Control, Model Predictive Control.
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Updated: Tue Aug 19 09:16:10 2008
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