Performance investigation of PID controller in trajectory control of two-link robotic manipulator in medical robots

Abstract

Abstract Robot-assisted surgical procedures have gained much coverage in recent years and favored over manually conducted operations. The medical robots are comprised of manipulators arm that is the multi-degree of freedom positioning devices with a highly non-linear nature to perform various surgical tasks. Due to non-linear effects, robots offer a severe challenge to the control system. Therefore, the control techniques are required for controlling the robots that should be fast enough to accommodate the rapid changes in the system parameters. In this article, the Proportional-Integral-Derivative (PID) controller’s performance has been investigated in trajectory control of the Two-Link Robotic Manipulator (TLRM) for reliable functioning of these robots. Tracking error and Control input factors have been used to investigate the PID controller’s robustness in trajectory control of ‘TLRM.’ Euler’s-lagrange approach has been used for dynamic analysis of ‘TLRM’. This work has been accomplished in the MATLAB®/ Simulink environment.