Medical robots are sensitive tools to improve the surgery's performance. One of the most active research area in this field is control of medical robot. In this research, nonlinear, stable and robust Sliding Mode controller (SMC) is used as a based controller. This algorithm works based on the functional operation. The main traditional functions for this algorithm are switching and saturation functions. In this research, fuzzy algorithm is used to design a unique function to adjust the output performance. According to this research, the chattering eliminated based on applied modified sliding function, which is more robust than conventional sliding mode controller.
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