Robust Dynamic Surface Control of da Vinci Robot Manipulator Considering Uncertainties: A Fuzzy Based Approach

2019 7th International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2019-11-01 DOI:10.1109/ICRoM48714.2019.9071876

Mohammad Hossein Hamedani, M. Selvaggio, Mahtab Rahimkhani, F. Ficuciello, Hamid Sadeghian, M. Zekri, F. Sheikholeslam

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引用次数: 2

Abstract

da Vinci is a robotic platform used to perform surgical tasks. The use of this robotic platform can have a significant effect on the reduction of operation time and improvement of the surgical task outcomes. However, the dynamic model of the da Vinci robot especially the friction model of the prismatic joint is unknown. Therefore, the design of an adaptive torque controller for da Vinci system can be the optimal solution for autonomous control strategies. In this work, we propose a fuzzy dynamic surface controller as a suitable application of the fuzzy method to tune the gain of the dynamic surface as an adaptive and robust controller for the da Vinci robot. The proposed controller is able to observe and eliminate the uncertainties. Lyaponuv method is used to guarantee the stability of the closed loop system. Finally, experiments are conducted to verify the proper performance of the proposed approach. It is worth noting that the experimental results indicate the robustness of the controller against uncertainties of the system.

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考虑不确定性的达芬奇机器人鲁棒动态面控制:一种基于模糊的方法

达芬奇是一个用于执行手术任务的机器人平台。该机器人平台的使用对减少手术时间和提高手术任务效果具有显著的效果。然而，达芬奇机器人的动力学模型，特别是移动关节的摩擦模型是未知的。因此，设计达芬奇系统的自适应转矩控制器可以作为自主控制策略的最优解决方案。在这项工作中，我们提出了一种模糊动态表面控制器，作为模糊方法的合适应用来调整动态表面的增益，作为达芬奇机器人的自适应和鲁棒控制器。所提出的控制器能够观察和消除不确定性。采用Lyaponuv法保证闭环系统的稳定性。最后，通过实验验证了该方法的性能。值得注意的是，实验结果表明了控制器对系统不确定性的鲁棒性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

2019 7th International Conference on Robotics and Mechatronics (ICRoM)

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