Performance estimation of computed torque control for surgical robot application

  • Varnita Verma Department of Electrical and Electronics Engineering, University of Petroleum and Energy Studies, Dehradun, India-248007. Phone: +91-8006496996
  • A. Gupta Department of Mechanical Engineering, University of Petroleum and Energy Studies, Dehradun, India-248007
  • M. K. Gupta Department of Electrical and Electronics Engineering, University of Petroleum and Energy Studies, Dehradun, India-248007. Phone: +91-8006496996
  • P. Chauhan Department of Analytics, University of Petroleum and Energy Studies, Dehradun, India-248007.
Keywords: Mathematical modeling, Computed torque control, Newton Euler, SCARA robot, Trajectory tracking

Abstract

In the current paradigm, the development in robotic technology has a huge impact to revolutionize the medical domain. Surgical robots have greater advantages over surgeon such as reduced operating time, reduced tremor, less blood loss, and high dexterity. To perform different operations during surgery a base robot is required with the task-specific end effector. In this paper, the selective compliant assembly robot arm (SCARA) has been considered as the base robot and the complete mathematical modeling of the robot is illustrated. The equation of Kinematics is derived from the D-H notation. SCARA dynamic model is derived from Euler Lagrange. In order to achieve trajectory tracking the Computed Toque Control technique (CTC) applied to the SCARA manipulator. The performance of the CTC technique for trajectory tracking of each joint of the SCARA robot has evaluated in contrast with tuned PD and PID controller. The simulation results were discussed and verified using MATLAB simulation software.      

Published
2020-09-30
How to Cite
Verma, V., Gupta, A., Gupta, M. K., & Chauhan, P. (2020). Performance estimation of computed torque control for surgical robot application. Journal of Mechanical Engineering and Sciences, 14(3), 7017 - 7028. https://doi.org/10.15282/jmes.14.3.2020.04.0549