Semi-Real Evaluation, and Adaptive Control of a 6DOF Surgical Robot

Farzam Tajdari, Naeim Ebrahimi Toulkani, Nima Zhilakzadeh

Tutkimustuotos: KonferenssiartikkeliScientificvertaisarvioitu

5 Sitaatiot (Scopus)

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 based on their complex dynamic. To this end, in this paper, a 6-DOF robot, with linear manipulators, is designed and controlled. Addressing the inherent nonlinearity of the robot mechanism, an adaptive PID manipulator is employed and validated with nonlinear model. Thus, this paper aims to implement the controller using MATLAB on the nonlinear model designed in Adams software as online. Furthermore, as feasibility study, a 3-axis gyro sensor is calibrated and used to produce complex real movements and desires, which is sending real time signals to MATLAB with microcontroller ATmega 2560. Simulation results show that the adaptive controller identifies the system's dynamic and proceed to reducing error of the position by the time. In addition, the method defines the workspace of both the states and forces which can be an introduction to comprehensive design of such robots.

AlkuperäiskieliEnglanti
Otsikko2020 11th Power Electronics, Drive Systems, and Technologies Conference, PEDSTC 2020
ISBN (elektroninen)9781728158495
DOI - pysyväislinkit
TilaJulkaistu - helmik. 2020
Julkaistu ulkoisestiKyllä
OKM-julkaisutyyppiA4 Artikkeli konferenssijulkaisussa
Tapahtuma11th Power Electronics, Drive Systems, and Technologies Conference, PEDSTC 2020 - Tehran, Iran
Kesto: 4 helmik. 20206 helmik. 2020

Julkaisusarja

Nimi2020 11th Power Electronics, Drive Systems, and Technologies Conference, PEDSTC 2020

Conference

Conference11th Power Electronics, Drive Systems, and Technologies Conference, PEDSTC 2020
Maa/AlueIran
KaupunkiTehran
Ajanjakso4/02/206/02/20

!!ASJC Scopus subject areas

  • Energy Engineering and Power Technology
  • Renewable Energy, Sustainability and the Environment
  • Automotive Engineering
  • Electrical and Electronic Engineering
  • Mechanical Engineering
  • Control and Optimization

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