Kinematic Control of a Surgical Robot

The implementation of robotics in medicine involves the use of control systems during special stages of operations. An important element in control design for such a class of robots is the use of a kinematic control scheme. In this research, a kinematic control is developed for a surgical robot. The control system solves the tasks of position and orientation control of the working instrument. The analysis of the position of the instrument pivot point is based on linear algebra approaches. In particular, the Cauchy-Bunyakovsky-Schwarz inequality approach is used to find the projection of a vector onto a vector. The resulting control system is tested using developed programs and a surgical robot model.