TY - JOUR
T1 - Hybrid position–admittance realization of an adaptive output super-twisting controller for a robotic scalpel
AU - Sanchez-Magos, Misael
AU - Lazaro, Rafael Perez San
AU - Mireles, Caridad
AU - Ballesteros, Mariana
AU - Salgado, Iván
AU - Chairez, Isaac
N1 - Publisher Copyright:
© 2019 Elsevier Ltd
PY - 2019/12
Y1 - 2019/12
N2 - This study proposes the design and implementation of a hybrid robust automatic controller based on the application of a high order sliding mode algorithm for a robotic scalpel prototype (RS). Two fully actuated arms with three degrees of freedom constitute the RS, one arm holds the sample and the second one has the scalpel to exert the cutting task. Each arm is attached to its corresponding cartesian robotic platform. The available measurements are the angular displacements, the linear displacement and the force vector describing the interaction between the scalpel and the biological sample. A hybrid position–admittance controller implements an output-based adaptive distributed super-twisting algorithm to mobilize the RS. A high order sliding mode observer estimates the unknown angular and linear velocities that were used in the hybrid controller. Once the end-effector of each arm reaches the desired cutting position, the designed controller switches to the admittance controller to avoid damaging the surrounding tissue. Numerical simulations show the advantages of the suggested controller in comparison with classical algorithms. The hybrid sliding mode admittance controller has been successfully evaluated on an self-constructed platform. The experimental results show a precise cut and efficient mobilization of the RS compared to other classical controllers such as proportional-differentiator, proportional-integral and first order sliding mode controllers.
AB - This study proposes the design and implementation of a hybrid robust automatic controller based on the application of a high order sliding mode algorithm for a robotic scalpel prototype (RS). Two fully actuated arms with three degrees of freedom constitute the RS, one arm holds the sample and the second one has the scalpel to exert the cutting task. Each arm is attached to its corresponding cartesian robotic platform. The available measurements are the angular displacements, the linear displacement and the force vector describing the interaction between the scalpel and the biological sample. A hybrid position–admittance controller implements an output-based adaptive distributed super-twisting algorithm to mobilize the RS. A high order sliding mode observer estimates the unknown angular and linear velocities that were used in the hybrid controller. Once the end-effector of each arm reaches the desired cutting position, the designed controller switches to the admittance controller to avoid damaging the surrounding tissue. Numerical simulations show the advantages of the suggested controller in comparison with classical algorithms. The hybrid sliding mode admittance controller has been successfully evaluated on an self-constructed platform. The experimental results show a precise cut and efficient mobilization of the RS compared to other classical controllers such as proportional-differentiator, proportional-integral and first order sliding mode controllers.
KW - Admittance control
KW - Hybrid controllers
KW - Sliding-mode control
KW - Super-twisting algorithm
KW - Surgical robotics
UR - http://www.scopus.com/inward/record.url?scp=85072937158&partnerID=8YFLogxK
U2 - 10.1016/j.conengprac.2019.104161
DO - 10.1016/j.conengprac.2019.104161
M3 - Artículo
SN - 0967-0661
VL - 93
JO - Control Engineering Practice
JF - Control Engineering Practice
M1 - 104161
ER -