Incorporating model predictive control with fuzzy approximation for robot manipulation under remote center of motion constraint

Abstract Remote center of motion (RCM) constraint has attracted many research interests as one the key challenges for robot-assisted minimally invasive surgery (RAMIS). Although it been addressed by studies, few them treated with an independent workspace solution, which means they rely on kinematics robot manipulator. This makes difficult to replicate solutions other manipulators, limits their population. In this paper, we propose a novel control framework incorporating model predictive (MPC) fuzzy approximation improve accuracy under constraint. The is introduced manage kinematic uncertainties existing in MPC control. Finally, simulations were performed and analyzed validate proposed algorithm. By comparison, results prove that algorithm achieved success satisfying performance presence external disturbances.