Designing inverse dynamic controller with integral action for motion planning of surgical robot in the presence of bounded disturbances

Ghavifekr, Amir Aminzadeh; Badamchizadeh, Mohammad Ali; Alizadeh, Ghasem; Arjmandi, Arash

doi:10.1109/iraniancee.2013.6599773

Cited by 6 publications

(2 citation statements)

References 14 publications

Supporting

Mentioning

Contrasting

Unclassified

Order By: Relevance

“…Задачі керування сучасними роботами, що відтворюють складні траєкторії руху робочих органів у просторі, також вирішуються за допомогою зворотного керування динамікою [6,7]. При наявності великої кількості невизначених параметрів обернена динамічна модель робота складається за допомогою нечіткої логіки [8].…”

Section: аналіз літературних даних та постановка проблемиunclassified

Using of modified symmetry principle of the structural schemes for automatic control systems synthesis

Sheremet

Sadovoi

2016

EEJET

View full text Add to dashboard Cite

Section: аналіз літературних даних та постановка проблемиunclassified

Using of modified symmetry principle of the structural schemes for automatic control systems synthesis

Sheremet

Sadovoi

2016

EEJET

View full text Add to dashboard Cite

“…Several continuous-time control approaches such as passivity theorem [5], wave variable method [6], and adaptive controllers [7] have been utilized to address this issue. All well-known robotic theories such as disturbance rejection methods [8,9], Lyapunov-based controllers [10], and intelligent control [11] have been extended to teleoperation systems.…”

Section: Introductionmentioning

confidence: 99%

An Analysis of Sampling Effect on the Absolute Stability of Discrete-time Bilateral Teleoperation Systems

Ghavifekr

Chehraghi

Rossi

2019

2019 IEEE East-West Design &Amp; Test Symposium (EWDTS)

View full text Add to dashboard Cite

Absolute stability of discrete-time teleoperation systems can be jeopardized by choosing inappropriate sampling time architecture. A modified structure is presented for the bilateral teleoperation system including continuoustime slave robot, master robot, human operator, and the environment with sampled-data PD-like + dissipation controllers which make the system absolute stable in the presence of the time delay and sampling rates in the communication network. The output position and force signals are quantized with uniform sampling periods. Input-delay approach is used in this paper to convert the sampled-data system to a continuous-time counterpart. The main contribution of this paper is calculating a lower bound on the maximum sampling period as a stability condition. Also, the presented method imposes upper bounds on the damping of robots and notifies the sampling time importance on the transparency and stability of the system. Both simulation and experimental results are performed to show the validity of the proposed conditions and verify the effectiveness of the sampling scheme.

show abstract

Designing Adaptive Nonlinear Controller for Optimal Tracking of Laparoscopic Robotic Arm with Nonholonomic Constraints

Ghavifekr

Hassani

Calanca

2020

Mechanisms and Machine Science

View full text Add to dashboard Cite

Designing inverse dynamic controller with integral action for motion planning of surgical robot in the presence of bounded disturbances

Cited by 6 publications

References 14 publications

Using of modified symmetry principle of the structural schemes for automatic control systems synthesis

Using of modified symmetry principle of the structural schemes for automatic control systems synthesis

An Analysis of Sampling Effect on the Absolute Stability of Discrete-time Bilateral Teleoperation Systems

Designing Adaptive Nonlinear Controller for Optimal Tracking of Laparoscopic Robotic Arm with Nonholonomic Constraints

Contact Info

Product

Resources

About