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

Farzam Tajdari, Naeim Ebrahimi Toulkani, Nima Zhilakzadeh

Tutkimustuotos: KonferenssiartikkeliScientificvertaisarvioitu

Abstrakti

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.

AlkuperäiskieliEnglanti
Otsikko2020 11th Power Electronics, Drive Systems, and Technologies Conference (PEDSTC)
Sivumäärä6
ISBN (elektroninen)978-1-7281-5849-5
DOI - pysyväislinkit
TilaJulkaistu - 2020
Julkaistu ulkoisestiKyllä
OKM-julkaisutyyppiA4 Artikkeli konferenssijulkaisussa
Tapahtuma11th Power Electronics, Drive Systems, and Technologies Conference (PEDSTC) - Tehran
Kesto: 4 helmik. 20206 helmik. 2020

Julkaisusarja

NimiPower Electronics Drive Systems and Technologies Conference
KustantajaIEEE
ISSN (painettu)2377-6773

Conference

Conference11th Power Electronics, Drive Systems, and Technologies Conference (PEDSTC)
KaupunkiTehran
Ajanjakso4/02/206/02/20

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