Designing a Controller for Optimal Steering of Nonholonomic Laparoscopic Robotic Manipulators

Robotic laparoscopic grasper is a surgical tool with minimal invasion. In this robot،achieving the goals like precise tracking، stability and disturbance rejection is very important and this makes selecting a suitable controller to be one of the most important issues in these systems. 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 it will be explained. Then the problem of nonholonomic trajectory planning and conditions for proposed pfaffian constraint to be holonomic or nonholonomic will be studied. With regard to the nonholonomic structure of explained robot، using the Ritz estimation، a controller for optimal steering of grasper will be designed. This part of the robot، which performs the main part of the surgery، be controlled based on the uncertain properties of the tissues of patients body. Simulation results validate the efficiency of the proposed method for steering and controlling of the robot.