Screw theory based-design and tracking control of an endoscopic parallel manipulator for laparoscopic surgery

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

研究成果: Conference contribution

4 被引用数 (Scopus)

抄録

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 endoscopic surgical manipulator. The proposed mechanism, 2-PUU-2-PUS, is designed based on the parallel virtual chain concept and screw theory. 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 softwares. 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.

本文言語English
ホスト出版物のタイトルProceedings - IEEE International Conference on Robotics and Automation
ページ2491-2496
ページ数6
DOI
出版ステータスPublished - 2013
イベント2013 IEEE International Conference on Robotics and Automation, ICRA 2013 - Karlsruhe
継続期間: 2013 5 62013 5 10

Other

Other2013 IEEE International Conference on Robotics and Automation, ICRA 2013
CityKarlsruhe
Period13/5/613/5/10

ASJC Scopus subject areas

  • Software
  • Artificial Intelligence
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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