Sliding Mode Control of an MRI-Compatible Pneumatically Actuated Robot
نویسندگان
چکیده
Magnetically sensitive environments such as MRI scanners preclude the use of traditional electromagnetic actuators. Pneumatic piston-cylinders are well-suited actuators for MRIguided robots, but the nonlinear dynamics of the working fluid creates a challenging controls problem. Precision control of the actuators is needed for the robot to achieve high targeting accuracy. This paper reports a five degree-of-freedom MRI-compatible robot and a sliding mode controller for high-accuracy position tracking. Mean steady-state errors for needle translation and rotation in free space are 0.006 mm and 0.3 degrees, respectively.
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