In this study, considering the dynamic equations of the rotary inverted pendulum system and the motor dynamics, the pendulum angle is controlled with fuzzy logic sliding mode control method which has moving sliding surface by using state variables in the Matlab program. The sliding surface of the sliding mode control method is selected as moving. A fuzzy logic structure is used to calculate the slope of the slip surface. The boundary values of the membership functions in the fuzzy logic structure have been optimized using the genetic algorithm codes in the Matlab program. The sum of the squares of the errors is preferred as the objective function. The inputs of the fuzzy logic structure are the error of the pendulum angle and the derivative of the pendulum angle error. In the fuzzy logic structure, the slope of the sliding surface of the sliding mode control structure is obtained as an output. From the results, it was seen that the pendulum angle reached the desired reference value around the first second and the error was approximately zero. In addition, it has been observed that the motor torque value is at the levels of 20 Nm and the motor current value is at the levels of 3 ampers. It has been obtained from the results that the motor values are at reasonable levels close to the values in practical applications. When the motor is selected according to these obtained values, there won't be a problem with the implementation of this control method in real-time applications of the rotary inverted pendulum system.
Purpose The purpose of the study is to design a three-dimensional (3D) triglide parallel robot with a different approach and to control the manufactured robot via sliding mode control method that has not been applied to the robot before. Design/methodology/approach The x, y and z coordinates of the end effector of the robot have been given as a reference. The x, y and z reference values are transformed as new reference values of the vertical movement of the robot on the endless screw by using the inverse kinematic equations of the robot. The control of the robot over these reference values is provided by a sliding mode control. The MATLAB/real-time toolbox has been used for creating the interface. The real-time control of the triglide robot has been carried out with a sliding mode controller in the Simulink environment. Findings When the results of the sliding mode control are examined, it is seen that the desired reference values are provided in about 0.6 s. The velocity of the sliding limbs in each arm of the robot is approximately 50 mm/s. The reference values have been reached using the sliding mode control method, with an average error of 0.01 mm. In addition, the problem of chattering in the system caused by using the sign function has been relatively eliminated by using the saturation function instead of the sign function. Thus, the sliding mode control method with saturation function is more feasible. Originality/value In this study, the triglide parallel robot was manufactured using a 3D model after taking into consideration the dimensions of the 3D model. After production, the necessary hardware connections were provided, and a real-time sliding mode control method was implemented to the robot by using the interface program in MATLAB/Simulink environment. The literature contribution of the paper is the real-time control of the triglide robot with the sliding mode control method.
Purpose The purpose of this study is to design and manufacture a new remote center of motion (RCM) mechanism for use in laparoscopic surgical operations. In addition, obtaining the forward and inverse kinematic equations of the RCM mechanism and performing real-time position control with the Proportional–Integral–Derivative (PID) control method. Design/methodology/approach At the design stage, it is benefited from similar triangle rule. To obtain the kinematic equations in a simple way and facilitate control, two-fold displacement ratio is provided between the limbs where linear motion occurs. The rotation and displacement amounts required to move at the RCM point have been calculated by using the kinematic equations of the mechanism. Limb dimensions and motion limits are determined in the manner to avoid singularities and collisions. The x, y and z coordinates of the end effector have been defined as the reference point. Control of the mechanism was provided by PID control. To generate the user interface and control algorithm, MATLAB/Simulink real-time toolbox has been used. Four reference points were determined, control was performed and position error values were examined. MF634 Humusoft data acquisition card has been preferred to collect data from encoders. Findings A novel RCM mechanism has been designed and manufactured. Kinematic equations of this mechanism have been obtained. Position control of the cannula tip has been performed using PID control method for four different reference points. After settlement, maximum position error has been observed as 0.45 mm. Practical implications Structure of the designed mechanism is quite simple. Thus, costs are quite low. The operation area of the operator is widened by hanging the mechanism from the ceiling, so operational capability of health personnel is increasing. It helps to decrease the operation time and increase the success of the operation. Originality/value With this study, it is aimed to contribute to the literature by designing a new RCM mechanism. The rotation of the mechanism around the RCM point is provided by only one rotary motor, and the displacement of the RCM point in the vertical axis is provided by only one linear motor. The mechanism is also a surgical robot. The designed system is suitable for use in robot-assisted laparoscopic surgery in terms of maneuverability.
Abstract-The purpose of this study is to find dynamic equations for three degree of freedom triglide parallel robot, which is a member of the family of delta parallel robot. The Lagrangian method has been used for this aim. Dynamic equations have been obtained by utilizing abbreviation symbols. In addition to that, mathematical operations have been given for one arm of the robot in this paper.
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