文章基本信息

标题：A Motor Vibration Control for Robot Arm with Application to Surgical Tools
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作者：Hamid Cheraghi ; Farzin Piltan ; Nasim Sobhani 等
期刊名称：International Journal of Hybrid Information Technology
印刷版ISSN：1738-9968
出版年度：2015
卷号：8
期号：6
页码：65-78
DOI：10.14257/ijhit.2015.8.6.07
出版社：SERSC
摘要：Multi Degree of Freedom Joints (MDJ) are typically thought to be used for industrial purposes however they are beginning to gain the attention of the medical field. A current application pertains to using the precision and stability of a robot arm with MDJ to assist in minimally invasive surgery. In this research, adaptive sliding mode controls are presented as robust controls for multi degree of freedom joints. The objective of the study is to design controls for actuators without the knowledge of boundary of uncertainties/disturbances by using an adaptive sliding mode control while elucidating the robustness of the adaptive sliding mode control. A sliding mode control provides for ultimate accuracy in the presence of the bounded disturbance/uncertainties, although the sliding mode control also causes chattering. Chattering is undesirable for use with robot medical tools, since it might causes damage to them with a subsequent loss of accuracy and oscillation on end-effectors tools. Such chatter is caused by overestimation of the controller gain. An adaptive sliding mode is proposed as a solution to the problems created by chattering.
关键词：Multi Degree of Freedom Joints; invasive surgery; sliding mode controls; ; uncertainties; adaptive method; chattering