Again, I thought I answered all your questions - I don't know what else I am missing that I haven't told you.
You are right, but in my application for the most part, I can predict what is coming since the disturbance is periodic (of 2 frequency components). The Smith predictor I implemented...
PNachtwey,
There is a reason I am on this forum. I been working on this for quite some time now and I understand that the problem I was given is extremely difficult. I completely understand that standard PID systems will not work, so resorting to anticipative controllers was the only way to...
@PNachtwey
Just to address the rest of your questions:
1 - Maximum tissue motion is ~80 cm/s, and displacement is 10 mm
2 - Frequency components in the disturbance: ~0.3Hz & ~1.25Hz
3 - The surgical tool with force sensor is rigid (metal) and the tissue has a report Youngs modulus between 50 -...
Let me go into more context, perhaps it will help find a solution.
I am robotically controlling the contact force at the end of a surgical tool with an embedded force sensor sampled at 20Hz. The surface motion is inherent tissue motion (with a fair amount of compliance). I do not have the...
Hello,
I am trying control the contact-force of an end-effecter on a moving surface in 1 direction. The force sensor on the end effector is sampled at 20 Hz with an inherent dead-time of 50-80 ms. The time constant of my modeled plant (acquired using Simulink modeling input-output data from an...
