Designing inverse dynamic controller with integral action for motion planning of surgical robot in the presence of bounded disturbances

Robotic laparoscopic grasper is a surgical tool with minimal invasion. In this robot, achieve goals like precise tracking, stability and disturbance rejection are very important. In this paper, first the stages of modeling and simulating of laparoscopic robot will be discussed and the reasons for selecting the appropriate materials for different parts of proposed practical robot will be explained. Inverse dynamic controller with integral action is applied to improve the accuracy of tracking procedure for a surgical manipulator to track a specified reference signal in the presence of tremor that is modeled as constant bounded disturbance. Based on the disturbance rejection scheme, tracking controller is constructed which is asymptotically stabilizing in the sense of Lyapunov. It is shown that how under proper assumptions; the selected schemes succeed in achieving disturbance rejection at the input of a nonlinear system. Computer simulation results demonstrate that accurate trajectory tracking can be achieved by using the proposed controller.