Investigation of tribological interactions influence on dynamics of optimal surgical robot with DC motor and PID controller taking into account inputs from in vitro experiments on cardiovascular tissue

Tribological interactions are one of the basic reactions affecting the course of the drive torque in surgical robot joints. It is interesting to test out what is the impact of friction on its dynamics because it gives the possibility to effective control. Inputs from two in vitro experiments on cardiovascular tissue were added to optimization model. For the optimal obtained geometry, a model of dynamics of driving torques was constructed by using the block diagram method, taking into the account the inertia tensors and the locations of masses centers. The electromechanical DC motor model was added to each joint. PID regulator models were also added to them and step response with optimal indicators of the regulation quality was received using gradient descent method. For a specific mechatronic system of the surgical robot, dynamic friction model was formulated based on the Lund-Grenoble model.