Backlash Compensation for Accurate Control of Biopsy Needle Manipulators having Long Cable Transmission

  • Gun Rae Cho
  • Seong-Tae Kim
  • Jung Kim
Regular Paper


In the paper, a backlash compensator is proposed for accurate position control of the needle manipulator for the magnetic resonance imaging (MRI) guided biopsy. Having long cable driven transmission, the robot guarantees the MR-compatibility, but has accuracy degradation due to the backlash problem. To handle the problem, a backlash compensator is proposed based on the Prandtl-Ishlinskii model, regarding the continuity of the control input. The particle swarm optimization is used to identify the backlash model. Through the experiments, it is verified that the proposed compensator can reduce the tracking error dramatically, and can provide adequate accuracy for the biopsy operation.


Biopsy needle manipulator Backlash compensation Prandtl-Ishlinskii model Particle swarm optimization MR-compatibility Cable transmission 


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Copyright information

© Korean Society for Precision Engineering and Springer-Verlag GmbH Germany, part of Springer Nature 2018

Authors and Affiliations

  1. 1.Marine Robotics R&D DivisionKorea Institute of Robot and ConvergenceGyeongsangbuk-doRepublic of Korea
  2. 2.i2A Systems, #4104 N28, KAISTDaejeonRepublic of Korea
  3. 3.Department of Mechanical EngineeringKAISTDaejeonRepublic of Korea

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