Enhanced Robust Impedance Control of a Constrained Piezoelectric Actuator-based Surgical Device

Publication date: Available online 9 March 2019Source: Sensors and Actuators A: PhysicalAuthor(s): Jun Yik Lau, Wenyu Liang, Kok Kiong TanAbstractA robust impedance control algorithm for a semi-automated surgical device called ventilation tube applicator (VTA) was developed based on the dynamic coordination of force and position control. This paper presents an enhanced robust impedance control scheme for the VTA. The control approach is proposed for compliant manipulation in which motion and force trajectories are controlled to achieve position and force regulation. The control scheme is formulated to accommodate parametric uncertainties, non-linearities and external disturbances in the motion system. The proposed scheme employs only a single controller to control both position and contact force of the VTA. The stability of the control approach is analysed and proven theoretically. Desirable control performances in following the desired motion and force trajectories are demonstrated through experimental studies on the VTA. An important advantage of the control scheme is that it does not require the exact system parameters in the physical realisation. The proposed control scheme is useful for the implementation of applications demanding both sensing and control of motion and force trajectories.Graphical abstract

Source: Sensors and Actuators A: Physical - March 10, 2019 Category: Physics Source Type: research