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Design Sensitive Model Reference Controller with Application to Medical Technology

첫 페이지 보기
  • 발행기관
    보안공학연구지원센터(IJHIT) 바로가기
  • 간행물
    International Journal of Hybrid Information Technology 바로가기
  • 통권
    Vol.9 No.7 (2016.07)바로가기
  • 페이지
    pp.249-268
  • 저자
    Rouhollah Bahrami, Samira Soltani, Hossein Rashidi Bod, Somayeh Jowkar, Amirzubir Sahamijoo, Ali Taghizadegan, Nasri. B Sulaiman
  • 언어
    영어(ENG)
  • URL
    https://www.earticle.net/Article/A281668

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원문정보

초록

영어
The past two decades have seen the incorporation of robotics into medical applications. From a manufacturing perspective, robots have been used in pharmaceuticals, preparing medications. But on more novel levels, robots have been used in service roles, surgery, and prosthetics. The capability of high-precision operation in manufacturing settings gave the medical industry high hopes that robots could be used to assist in surgery. Not only are robots capable of much higher precision than a human, they are not susceptible to human factors, such as trembling and sneezing, that are undesirable in the surgery room. Another advantage to robots in medicine is the ability to perform surgery with very small incisions, which results in minimal scar tissue, and dramatically reduced recovery times. The popularity of these minimally invasive surgical (MIS) procedures has enabled the incorporation of robots in surgeries. In this paper, model reference computed torque controller is recommended for four degrees of freedom serial links robot manipulator, which modeled in SIMSCAPE. To design stable controller conventional computed torque controller is recommended. It is a nonlinear, stable, and reliable controller. The proposed approach effectively combines of design methods from nonlinear controller, and linear Proportional-Derivative (PD) control to improve the performance and stability. This paper has two important objectives: a) study on modeling of 4 degrees of freedom (DOF) based on Simscape software and b) design PD model reference computed torque controller to improve the sensitivity of surgical robot manipulator.

목차

Abstract
 1. Introduction
 2. Theory
 3. Methodology
 4. Test and Result
 5. Conclusion
 Acknowledgment
 References

키워드

surgical robots four degrees of freedom model reference computed torque controller

저자

  • Rouhollah Bahrami [ Intelligent System and Robotic Lab, Iranian Institute of Advanced Science and Technology (IRAN SSP), Shiraz/Iran ]
  • Samira Soltani [ Intelligent System and Robotic Lab, Iranian Institute of Advanced Science and Technology (IRAN SSP), Shiraz/Iran ]
  • Hossein Rashidi Bod [ Intelligent System and Robotic Lab, Iranian Institute of Advanced Science and Technology (IRAN SSP), Shiraz/Iran ]
  • Somayeh Jowkar [ Intelligent System and Robotic Lab, Iranian Institute of Advanced Science and Technology (IRAN SSP), Shiraz/Iran ]
  • Amirzubir Sahamijoo [ Intelligent System and Robotic Lab, Iranian Institute of Advanced Science and Technology (IRAN SSP), Shiraz/Iran ]
  • Ali Taghizadegan [ Intelligent System and Robotic Lab, Iranian Institute of Advanced Science and Technology (IRAN SSP), Shiraz/Iran ]
  • Nasri. B Sulaiman [ Intelligent System and Robotic Lab, Iranian Institute of Advanced Science and Technology (IRAN SSP), Shiraz/Iran, Department of Electrical Engineering, Faculty of Engineering, University Putra Malaysia, Malaysia ]

참고문헌

자료제공 : 네이버학술정보

간행물 정보

발행기관

  • 발행기관명
    보안공학연구지원센터(IJHIT) [Science & Engineering Research Support Center, Republic of Korea(IJHIT)]
  • 설립연도
    2006
  • 분야
    공학>컴퓨터학
  • 소개
    1. 보안공학에 대한 각종 조사 및 연구 2. 보안공학에 대한 응용기술 연구 및 발표 3. 보안공학에 관한 각종 학술 발표회 및 전시회 개최 4. 보안공학 기술의 상호 협조 및 정보교환 5. 보안공학에 관한 표준화 사업 및 규격의 제정 6. 보안공학에 관한 산학연 협동의 증진 7. 국제적 학술 교류 및 기술 협력 8. 보안공학에 관한 논문지 발간 9. 기타 본 회 목적 달성에 필요한 사업

간행물

  • 간행물명
    International Journal of Hybrid Information Technology
  • 간기
    격월간
  • pISSN
    1738-9968
  • 수록기간
    2008~2016
  • 십진분류
    KDC 505 DDC 605

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