Control system simulation for endoscopie surgical manipulator based on virtual chain approach

Khalil Ibrahim, Ahmed Ramadan, Mohamed Farmi, Yo Kobayashi, Ahmed Abo-Ismail, Masakatus G. Fujie

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

This paper deals with the design process and the dynamic control simulation of a new type of 4-DOFs parallel mechanism that can be used as an endoscopie surgical manipulator. The proposed mechanism, 2-PUU 2PUS, is designed based on the screw theory and the parallel virtual chain type synthesis method. Based on the structure analysis of the 4-DOF parallel mechanism, the inverse position equation is studied using the inverse analysis theory of kinematics. The design and the stress analysis of the mechanism are investigated using SolidWorks software. The virtual prototype of the parallel mechanism is constructed, and the dynamic simulation is performed using ADAMS™ software. The system model utilizing PID and PI controllers has been built using MATLAB software. A more realistic simulation in accordance with a given bending angle and point to point control is implemented by the use of both ADAMS/MATLAB software. The simulation results showed that this control method has solved the coordinate control for the 4-DOF parallel manipulator so that each output is feedback to the four driving rods. From the results, the tracking performance is achieved. Other control techniques, such as intelligent ones, are recommended to improve the tracking performance and reduce the numerical truncation error.

Original languageEnglish
Title of host publicationProceedings of the 2012 1st International Conference on Innovative Engineering Systems, ICIES 2012
Pages25-30
Number of pages6
DOIs
Publication statusPublished - 2012
Event2012 1st International Conference on Innovative Engineering Systems, ICIES 2012 - Alexandria
Duration: 2012 Dec 72012 Dec 9

Other

Other2012 1st International Conference on Innovative Engineering Systems, ICIES 2012
CityAlexandria
Period12/12/712/12/9

Fingerprint

Manipulators
Control systems
MATLAB
Stress analysis
Kinematics
Feedback
Controllers
Computer simulation

Keywords

  • medical robotics
  • parallel mechanisms
  • tracjectory control
  • virtual chain type synthesis method

ASJC Scopus subject areas

  • Engineering (miscellaneous)
  • Control and Systems Engineering

Cite this

Ibrahim, K., Ramadan, A., Farmi, M., Kobayashi, Y., Abo-Ismail, A., & Fujie, M. G. (2012). Control system simulation for endoscopie surgical manipulator based on virtual chain approach. In Proceedings of the 2012 1st International Conference on Innovative Engineering Systems, ICIES 2012 (pp. 25-30). [6530839] https://doi.org/10.1109/ICIES.2012.6530839

Control system simulation for endoscopie surgical manipulator based on virtual chain approach. / Ibrahim, Khalil; Ramadan, Ahmed; Farmi, Mohamed; Kobayashi, Yo; Abo-Ismail, Ahmed; Fujie, Masakatus G.

Proceedings of the 2012 1st International Conference on Innovative Engineering Systems, ICIES 2012. 2012. p. 25-30 6530839.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Ibrahim, K, Ramadan, A, Farmi, M, Kobayashi, Y, Abo-Ismail, A & Fujie, MG 2012, Control system simulation for endoscopie surgical manipulator based on virtual chain approach. in Proceedings of the 2012 1st International Conference on Innovative Engineering Systems, ICIES 2012., 6530839, pp. 25-30, 2012 1st International Conference on Innovative Engineering Systems, ICIES 2012, Alexandria, 12/12/7. https://doi.org/10.1109/ICIES.2012.6530839
Ibrahim K, Ramadan A, Farmi M, Kobayashi Y, Abo-Ismail A, Fujie MG. Control system simulation for endoscopie surgical manipulator based on virtual chain approach. In Proceedings of the 2012 1st International Conference on Innovative Engineering Systems, ICIES 2012. 2012. p. 25-30. 6530839 https://doi.org/10.1109/ICIES.2012.6530839
Ibrahim, Khalil ; Ramadan, Ahmed ; Farmi, Mohamed ; Kobayashi, Yo ; Abo-Ismail, Ahmed ; Fujie, Masakatus G. / Control system simulation for endoscopie surgical manipulator based on virtual chain approach. Proceedings of the 2012 1st International Conference on Innovative Engineering Systems, ICIES 2012. 2012. pp. 25-30
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