Full Content is available to subscribers

Subscribe/Learn More  >

Precision Position Tracking of MR-Compatible Pneumatic Piston-Cylinder Using Sliding Mode Control

[+] Author Affiliations
David Comber, Eric J. Barth

Vanderbilt University, Nashville, TN

Paper No. DSCC2011-5960, pp. 45-51; 7 pages
  • ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control
  • ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, Volume 1
  • Arlington, Virginia, USA, October 31–November 2, 2011
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-5475-4
  • Copyright © 2011 by ASME


This paper presents the nonlinear dynamics and sliding mode control design for a 1-DOF needle insertion robot. The robot actuator is an MR-compatible pneumatic piston-cylinder. A brief review of the dynamics for this type of actuator is provided. The reaction force of tissue on the needle remains an unknown for which our controller compensates. A sliding mode control law is formulated that relies solely on position and pressure measurements (no force sensor). Experimental implementation of the actuator and controller is described. The mean and maximum steady-state position errors for step reference positions were 0.018 mm and 0.028 mm, respectively.

Copyright © 2011 by ASME



Interactive Graphics


Country-Specific Mortality and Growth Failure in Infancy and Yound Children and Association With Material Stature

Use interactive graphics and maps to view and sort country-specific infant and early dhildhood mortality and growth failure data and their association with maternal

Citing articles are presented as examples only. In non-demo SCM6 implementation, integration with CrossRef’s "Cited By" API will populate this tab (http://www.crossref.org/citedby.html).

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In