Robust Adaptive Impedance Control in Scara Robot Manipulator for Robotic Cell Injection

Cell injection system in medicine used to inject the materials into the cells. The injection system consists of Injector and rotating plate. The controller sets height, position and orientation of the rotating plate. The proposal of this article is to replace SCARA robot injection tool and it included ability in desired position tracking and applied to time-varying force. In recent articles the control system applies to the rotating plate of Cells and this method can cause the damaging risk. The proposed method is fixed plate and to increase the success rate, the robot had been controlled. The parameters of environmental models are estimated by nonlinear proposed models and by using the recursive method, the minimum of squares errors will be optimal. The voltage strategy can control robot actuators. This method is simpler and free from the manipulator dynamics. In all recent studies, the impedance control is based on the torque control method and the proposed method of this article is applying the impedance control using voltage control. The robust adaptive impedance controller is designed in the presence of uncertainties. The simulation's results demonstrate desired performance of the proposed method