Fuzzy Adaptive Sliding Mode Impedance Control of Fracture Reduction Robot

With the development of robotics, it will be possible for fracture reduction robots to replace doctors in performing surgery operations. The accuracy and safety by robot is important. In order compensate various uncertainties nonlinear problems impedance control system, this paper proposes a fuzzy adaptive sliding mode robot, which includes force residual observer (FRO) controller (FASMC). FRO used estimate external between fractured musculoskeletal tissue real-time, no sensor installed at end-effector robot. FASMC mainly three parts: linearizing system inverse dynamics PD control, improving system's robustness switching gain reduce chattering, eliminating disturbance term normalized factor linear combination compensate. co-simulation shows that method has better steady-state position tracking accuracy, -0.733 mm, -2.12 N. This provides an effective