LQR controller for robotic skull drilling system

摘要

This paper presents state of art in neurosurgical robotic manipulators. A modular design for an automatic skull drilling system is presented. The proposed model is simulated to test the performance of skull drilling device. Linear Quadratic Regulator is used for optimizing the performance of Skull drilling control system and proofs that the system has good disturbance rejection. The designed method is simulated and the system performance is improved.