A Hybrid Admittance Control Algorithm for Automatic Robotic Cranium-Milling

Chen Qian,Zhen Li,Qiang Ye,Peicong Ge,Jizong Zhao,Gui-Bin Bian,Chen Qian,Zhen Li,Qiang Ye,Peicong Ge,Jizong Zhao,Gui-Bin Bian

Prior robot-assisted cranium-milling studies only considered controlling the force in the skull’s vertical direction and neglected the milling cutter’s feed force. Additionally, achieving stable force control in multiple directions is challenging for robots due to the uneven skull surface. Here a hybrid admittance control algorithm incorporating a model-free adaptive nonlinear force control and fu...