Analysis of robust control method for the flexible manipulator in reliable operation of medical robots during COVID-19 pandemic.

IF 1.6 4区工程技术 Q3 ENGINEERING, ELECTRICAL & ELECTRONIC

Microsystem Technologies-Micro-And Nanosystems-Information Storage and Processing Systems Pub Date : 2021-01-01 Epub Date: 2020-10-16 DOI:10.1007/s00542-020-05028-9

Kuldeep Jayaswal, D K Palwalia, Subodh Kumar

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引用次数: 7

Abstract

A novel coronavirus disease (COVID-19) is transmitting throughout the globe. During this Pandemic situation, medical robots are playing an important role in protecting front line medical staff from this disease. The flexible robotic manipulator has mechanical flexibility, due to that fluctuation or oscillations can be seen either during or after the movement of a manipulator and can create uncertainty in medical operations. During this pandemic situation, reliable operations of these robots are necessary that depend upon the stability of flexible manipulators. In this article, Linear Quadratic Regulator (LQR), Pole Placement, and Proportional-Integral-Derivatives (PID) control methods have been used to investigate the robust control method for controlling the position of manipulator with flexible link in medical robots. To carry out this research, an effective variant of the flexible Link robotic manipulator has been used as a framework to analyze the robust control method. The Matlab®/Simulink result shows that the LQR control method provides better control response compared to PID and pole placement method and thus provides reliable operation to Medical Robots.

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新型冠状病毒大流行期间医疗机器人柔性机械臂可靠运行鲁棒控制方法分析

新型冠状病毒病(COVID-19)正在全球传播。在本次大流行疫情期间，医疗机器人在保护一线医务人员免受疫情侵害方面发挥着重要作用。柔性机械臂具有机械灵活性，因为在机械臂运动期间或运动后可以看到波动或振荡，并且可以在医疗操作中产生不确定性。在这种大流行的情况下，这些机器人的可靠操作是必要的，这取决于柔性操纵器的稳定性。本文采用线性二次调节器(LQR)、极点配置和比例-积分-导数(PID)控制方法，研究了医疗机器人柔性连杆机械臂位置的鲁棒控制方法。为了开展这项研究，以柔性连杆机器人的有效变体为框架，分析了鲁棒控制方法。Matlab®/Simulink结果表明，LQR控制方法比PID和极点放置方法具有更好的控制响应，从而为医疗机器人提供可靠的运行。

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

Microsystem Technologies-Micro-And Nanosystems-Information Storage and Processing Systems 工程技术-材料科学：综合

CiteScore

5.20

自引率

9.50%

发文量

147

审稿时长

3.3 months

期刊介绍： "Microsystem Technologies - Micro- and Nanosystems. Information Storage and Processing Systems" is intended to provide rapid publication of important and timely results on electromechanical, materials science, design, and manufacturing issues of these systems and their components. The MEMS/NEMS (Micro/NanoElectroMechanical Systems) area includes sensor, actuators and other micro/nanosystems, and micromechatronic systems integration. Information storage systems include magnetic recording, optical recording, and other recording devices, e.g., rigid disk, flexible disk, tape and card drives. Processing systems include copiers, printers, scanners and digital cameras. All contributions are of international archival quality. These are refereed by MST editors and their reviewers by rigorous journal standards. The journal covers a wide range of interdisciplinary technical areas. It brings together and cross-links the knowledge, experience, and capabilities of academic and industrial specialists in many fields. Finally, it contributes to the economically and ecologically sound production of reliable, high-performance MEMS and information storage & processing systems.