Intelligent Optimal Feed-Back Torque Control of a 6DOF Surgical Rotary Robot

Farzam Tajdari, Naeim Ebrahimi Toulkani, Nima Zhilakzadeh

Research output: Chapter in Book/Report/Conference proceedingConference contributionScientificpeer-review

10 Citations (Scopus)


Sophisticated surgeons are widely indicating the use of surgical robots in order to reject human error, increase precision, and speed. Among well-known robotic mechanisms, parallel robots are broadly more investigated regarding their special characters as higher acceleration, speed, and accuracy, and less weight. Specific surgical procedures confine, and restrict their workspace, while controlling and validating the robots are complicated regarding to their complex dynamic. To this end, in this paper, a 6-DOF robot, with rotary manipulators, is designed and controlled. Addressing nonlinearity of parallel robots, an innovative methodology is formulated to robustly penalize the error of tracking at end effector through a Linear Quadratic Integral (LQI) regulator with online Artificial Neural Network (ANN) gain tuning, based on non-linear model in format of a Linear Time Invariant (LTI) model. As validation, the controller is implemented using MATLAB on the non-linear model designed in Adams software online. Simulation results demonstrate the optimal controller penalizing the error while minimizing torque on each of the rotary manipulator. In addition, the method defines the workspace of both the states and torques, which is an introduction to comprehensive design of such robots.

Original languageEnglish
Title of host publication2020 11th Power Electronics, Drive Systems, and Technologies Conference (PEDSTC)
Number of pages6
ISBN (Electronic)978-1-7281-5849-5
Publication statusPublished - 2020
Externally publishedYes
Publication typeA4 Article in conference proceedings
Event11th Power Electronics, Drive Systems, and Technologies Conference (PEDSTC) - Tehran
Duration: 4 Feb 20206 Feb 2020

Publication series

NamePower Electronics Drive Systems and Technologies Conference
ISSN (Print)2377-6773


Conference11th Power Electronics, Drive Systems, and Technologies Conference (PEDSTC)


  • parallel rotary robot
  • validation
  • optimal control
  • nonlinear systems


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