  In this paper, the tracking control problem for 5 DOF surgical robot which is
affected by tremor of surgeons' hand is considered. Mechanical modeling and
dynamic analysis of a robotic arm in slave subsystem of a telesurgery system
will be discussed and the reasons for selecting the appropriate materials for
different parts of robot will be explained. It would be required this robot,
which will do the main part of the surgery, be controlled based on the
uncertain properties of the tissues of patients body. Improved Lyapunov Based
control method with uncertainty observer is applied to improve the accuracy of
tracking procedure for a surgical manipulator to track a specified reference
signal in the presence of tremor that is modeled as constant bounded
disturbance. Based on the disturbance rejection scheme, tracking controllers
are constructed which are asymptotically stabilizing in the sense of Lyapunov.
The control strategy was implemented using a PC interface. Computer simulation
results demonstrate that accurate trajectory tracking can be achieved by using
the proposed controllers.
