DISTURBANCE FEED FORWARD CONTROL OF A HANDHELD PARALLEL ROBOT

Achim Wagner, Matthias Nübel, Essam Badreddin, Peter P. Pott, Markus L. Schwarz

2007

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.

Paper Citation

in Harvard Style

Wagner A., Nübel M., Badreddin E., P. Pott P. and L. Schwarz M. (2007). DISTURBANCE FEED FORWARD CONTROL OF A HANDHELD PARALLEL ROBOT . In Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-972-8865-83-2, pages 44-51. DOI: 10.5220/0001626500440051

in Bibtex Style

@conference{icinco07,
author={Achim Wagner and Matthias Nübel and Essam Badreddin and Peter P. Pott and Markus L. Schwarz},
title={DISTURBANCE FEED FORWARD CONTROL OF A HANDHELD PARALLEL ROBOT},
booktitle={Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2007},
pages={44-51},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001626500440051},
isbn={978-972-8865-83-2},
}

in EndNote Style

TY - CONF
JO - Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - DISTURBANCE FEED FORWARD CONTROL OF A HANDHELD PARALLEL ROBOT
SN - 978-972-8865-83-2
AU - Wagner A.
AU - Nübel M.
AU - Badreddin E.
AU - P. Pott P.
AU - L. Schwarz M.
PY - 2007
SP - 44
EP - 51
DO - 10.5220/0001626500440051