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논문검색

Fuzzy Surface Slope Auto Tuner for Medical Robot

원문정보

Somayeh Jowkar, Farzin Piltan, Amirzubir Sahamijoo, Ali Taghizadegan, Rouhollah Bahrami, Hossein Rashidi Bod, Nasri. B Sulaiman

보안공학연구지원센터(IJBSBT) International Journal of Bio-Science and Bio-Technology Vol.8 No.6 2016.12 pp.185-202
피인용수 : 0건 (자료제공 : 네이버학술정보)

초록

영어

Medical robots are sensitive tools to improve the surgery’s performance. One of the most active research area in this field is control of medical robot. In this research, nonlinear, stable and robust Sliding Mode controller (SMC) is used as a based controller. This algorithm works based on the functional operation. The main traditional functions for this algorithm are switching and saturation functions. In this research, fuzzy algorithm is used to design a unique function to adjust the output performance. According to this research, the chattering eliminated based on applied modified sliding function, which is more robust than conventional sliding mode controller.

목차

Abstract
 1. System’s Dynamic (4 DOF Medical Robot Manipulator)
 2. Traditional Sliding Mode Control
 3. Design Artificial Intelligence based Surface Slope
 4. Conclusion
 References

키워드

저자정보

  • Somayeh Jowkar 1. Intelligent System and Robotic Lab, Iranian Institute of Advanced Science and Technology (IRAN SSP), Shiraz/Iran / 2. Department of Information Technology, Faculty of Computer Engineering, Ateneo De Manila University, Manila/Philippines
  • Farzin Piltan Intelligent System and Robotic Lab, Iranian Institute of Advanced Science and Technology (IRAN SSP), Shiraz/Iran
  • Amirzubir Sahamijoo 1Intelligent 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
  • Rouhollah Bahrami 1. Intelligent System and Robotic Lab, Iranian Institute of Advanced Science and Technology (IRAN SSP), Shiraz/Iran / 2. Department of Electrical-Electronic Engineering, Islamic Azad University, Iran
  • Hossein Rashidi Bod Intelligent System and Robotic Lab, Iranian Institute of Advanced Science and Technology (IRAN SSP), Shiraz/Iran
  • Nasri. B Sulaiman 1. Intelligent System and Robotic Lab, Iranian Institute of Advanced Science and Technology (IRAN SSP), Shiraz/Iran / 2. Department of Electrical Engineering, Faculty of Engineering, University Putra Malaysia, Malaysia

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