TY - GEN
T1 - Robust Dynamic Surface Control of da Vinci Robot Manipulator Considering Uncertainties
T2 - 7th International Conference on Robotics and Mechatronics, ICRoM 2019
AU - Hamedani, Mohammad Hossein
AU - Selvaggio, Mario
AU - Rahimkhani, Mahtab
AU - Ficuciello, Fanny
AU - Sadeghian, Hamid
AU - Zekri, Maryam
AU - Sheikholeslam, Farid
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/11
Y1 - 2019/11
N2 - 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.
AB - 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.
KW - da Vinci
KW - dynamic surface.fuzzy inference
KW - robust controller
UR - https://www.scopus.com/pages/publications/85084359791
U2 - 10.1109/ICRoM48714.2019.9071876
DO - 10.1109/ICRoM48714.2019.9071876
M3 - Conference contribution
AN - SCOPUS:85084359791
T3 - ICRoM 2019 - 7th International Conference on Robotics and Mechatronics
SP - 418
EP - 423
BT - ICRoM 2019 - 7th International Conference on Robotics and Mechatronics
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 20 November 2019 through 21 November 2019
ER -