LQR controller for robotic skull drilling system


MM Mohamed, J Gu, J Luo

Control And Decision Conference (CCDC), 2017 

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.