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A study on a computationally efficient controller design for a surgical robotic system

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Abstract

The control algorithms of the surgical robotic system using the robot’s dynamics produce a relatively high computational load on the processor. This paper develops a computationally efficient computed torque controller by using a simplified dynamic modeling method and implemented in a novel surgical robot experimentally. In addition, an independent joint controller is designed and implemented to compare the results of the computed torque controller.

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Data availability statement

Data sharing was not applicable to this article as no datasets were generated or analyzed during the current study

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Acknowledgements

This work was supported in part by The Scientific and Technological Research Council of Turkey via grant number 219M483.

Funding

This study was supported by a grant of 219M483 funded by The Scientific and Technological Research Council of Turkey (TÜBİTAK). The funders had no role in study design, data collection, analysis, and interpretation, or preparation of the manuscript.

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Authors and Affiliations

  1. Department of Mechanical Engineer, Izmir Institute of Technology, İzmir, Türkiye

    Orhan Ayit & Mehmet İsmet Can Dede

Authors
  1. Orhan Ayit
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  2. Mehmet İsmet Can Dede
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Contributions

The study was designed by OA and Mehmet İsmet Can Dede. Material preparation and data collection were performed by OA. The data analysis was performed by OA and supervised by MİCD. The first draft of the manuscript was written by OA and revised by MCD. All authors read and approved the final manuscript.

Corresponding author

Correspondence to Orhan Ayit.

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Conflicts of interest

Orhan Ayit and Mehmet İsmet Can Dede declare that they have no competing interests

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Ayit, O., Dede, M.İ.C. A study on a computationally efficient controller design for a surgical robotic system. Int. J. Dynam. Control 11, 3176–3187 (2023). https://doi.org/10.1007/s40435-023-01164-y

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  • DOI: https://doi.org/10.1007/s40435-023-01164-y

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