A novel coronavirus disease (COVID-19) is transmitting throughout the globe. During this Pandemic situation, medical robots are playing an important role in protecting front line medical staff from this disease. The flexible robotic manipulator has mechanical flexibility, due to that fluctuation or oscillations can be seen either during or after the movement of a manipulator and can create uncertainty in medical operations. During this pandemic situation, reliable operations of these robots are necessary that depend upon the stability of flexible manipulators. In this article, Linear Quadratic Regulator (LQR), Pole Placement, and Proportional-Integral-Derivatives (PID) control methods have been used to investigate the robust control method for controlling the position of manipulator with flexible link in medical robots. To carry out this research, an effective variant of the flexible Link robotic manipulator has been used as a framework to analyze the robust control method. The Matlab®/Simulink result shows that the LQR control method provides better control response compared to PID and pole placement method and thus provides reliable operation to Medical Robots.

一种新型冠状病毒病 (COVID-19) 正在全球传播。在这次大流行期间，医疗机器人在保护一线医务人员免受这种疾病侵害方面发挥着重要作用。灵活的机器人机械手具有机械灵活性，因为在机械手运动期间或之后可以看到波动或振荡，并可能在医疗操作中产生不确定性。在这种大流行情况下，这些机器人的可靠运行是必要的，这取决于灵活机械手的稳定性。在本文中，线性二次调节器（LQR）、极点放置和比例积分微分（PID）控制方法已被用于研究控制医疗机器人柔性链接机械臂位置的鲁棒控制方法。为了开展这项研究，灵活的 Link 机器人机械手的一种有效变体已被用作分析鲁棒控制方法的框架。Matlab®/Simulink 结果表明，与 PID 和极点放置方法相比，LQR 控制方法提供了更好的控制响应，从而为医疗机器人提供了可靠的操作。