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Journal ArticleDOI: 10.1080/09720502.2021.1893444

Performance investigation of PID controller in trajectory control of two-link robotic manipulator in medical robots

04 Mar 2021-Journal of Interdisciplinary Mathematics (Informa UK Limited)-Vol. 24, Iss: 2, pp 467-478
Abstract: Robot-assisted surgical procedures have gained much coverage in recent years and favored over manually conducted operations. The medical robots are comprised of manipulators arm that is the multi-d...

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Topics: PID controller (55%), Remote surgery (54%), Robot (50%)

7 results found

Open accessJournal ArticleDOI: 10.1155/2021/8892032
Hongjun Hu1, Shungen Xiao, Haikuo Shen1Institutions (1)
Abstract: To solve the problems of model uncertainties, dynamic coupling, and external disturbances, a modified linear active disturbance rejection controller (MLADRC) is proposed for the trajectory tracking control of robot manipulators. In the computer simulation, MLADRC is compared to the proportional-derivative (PD) controller and the regular linear active disturbance rejection controller (LADRC) for performance tests. Multiple uncertain factors such as friction, parameter perturbation, and external disturbance are sequentially added to the system to simulate an actual robot manipulator system. Besides, a two-degree-of-freedom (2-DOF) manipulator is constructed to verify the control performance of the MLADRC. Compared with the regular LADRC, MLADRC is significantly characterized by the addition of feedforward control of reference angular acceleration, which helps robot manipulators keep up with target trajectories more accurately. The simulation and experimental results demonstrate the superiority of the MLADRC over the regular LADRC for the trajectory tracking control.

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1 Citations

Open accessJournal ArticleDOI: 10.1109/ACCESS.2021.3089592
15 Jun 2021-IEEE Access
Abstract: Solar insolation is sun radiation converted to electrical energy and injected into the utility network using grid-connected solar power plants. Recently, in many nations’ electricity grids, the share of power generated using solar photovoltaic (PV) power plants is rapidly increasing. In this case study, solar insolation levels on different latitudes with fix & two seasonal tilt angles have been measured using Meteonorm® software. For these latitudes, fourteen airport locations have been chosen across the globe. From the case study, it has been evident that a double seasonal tilt angle provides more global insolation as compared to fix tilt angle with a suitable azimuth angle. There is also a reduction in insolation level at fixed and two seasonal tilt angles if going away from the equator. Further, up to three seasonal tilt angles, there is sufficient enhancement has been observed in solar insolation. It is also analyzed that for multiple seasonal tilt angle based solar PV Plant, month-wise tilt angle selection is more important. Further Average, Rectangular, and Trapezoidal methods have been used for estimation of cumulative inclined insolation for a specific period and compared. From the comparison, the trapezoidal method has been found optimal for accurate estimation of cumulative inclined insolation.

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Topics: Photovoltaic system (59%), Solar power (56%), Tilt (optics) (52%)

Proceedings ArticleDOI: 10.1109/IRCE53649.2021.9570962
18 Sep 2021-
Abstract: In recent years, rigid flexible coupling structure has been widely used in robots. However, its nonlinear deformation increases the residual vibration of the system, which causes a great challenge to the motion control of robots. In this paper, a kind of motion control algorithm based on input shaping is proposed. Based on the analysis of the vibration modes of the system, motion controllers are designed based on three typical input shaping algorithms, which not only make the rigid flexible coupling system can respond quickly, but also reduce the residual vibration in the process of motion. The effectiveness, robustness and real-time performance of the motion control algorithm are verified by numerical simulation and motion control experiments. The study results of this paper lay the foundation for the motion control of complex robot and exoskeleton system.

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Topics: Input shaping (62%), Motion control (62%), Vibration (52%) ... show more

Open accessJournal ArticleDOI: 10.11591/IJAPE.V10.I3.PP253-261
Abstract: Nowadays, active power filter (APF) is the most popular device for harmonic compensation. This paper presents the soft computing techniques for compensation of currents harmonics using a shunt active power filter (SAPF). The method includes a 3-phase supply system with a current-controlled voltage source converter (CC-VSC) having an input coupling inductor and output tank capacitor for a self-supported DC bus. The performance of the active power filter can be enhanced by using soft computing techniques such as artificial neural network (ANN) controller and gravitational search algorithm (GSA) for generating control signals of the SAPF. The current reference is calculated to compensate source current THD with synchronous reference frame (SRF) technique with proportional integrator (PI) controller. From the result, it is evident that both the soft computing techniques reduce the computational time & fast convergence which improves the filter performance during the transient period and makes it self-tuned. The proposed structure is simulated using MATLAB/Simulink and subsequently experimentally verified. The presentation of the system is originated to be suitable for numerous features of power quality enhancement structure.

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Topics: Filter (video) (58%), Total harmonic distortion (57%), Soft computing (54%) ... show more


24 results found

Open accessBook
01 Jan 1995-
Topics: PID controller (60%)

3,999 Citations

Open accessJournal ArticleDOI: 10.1097/01.SLA.0000103020.19595.7D
01 Jan 2004-Annals of Surgery
Abstract: Robotic surgery is a new and exciting emerging technology that is taking the surgical profession by storm. Up to this point, however, the race to acquire and incorporate this emerging technology has primarily been driven by the market. In addition, surgical robots have become the entry fee for centers wanting to be known for excellence in minimally invasive surgery despite the current lack of practical applications. Therefore, robotic devices seem to have more of a marketing role than a practical role. Whether or not robotic devices will grow into a more practical role remains to be seen. Our goal in writing this review is to provide an objective evaluation of this technology and to touch on some of the subjects that manufacturers of robots do not readily disclose. In this article we discuss the development and evolution of robotic surgery, review current robotic systems, review the current data, discuss the current role of robotics in surgery, and finally we discuss the possible roles of robotic surgery in the future. It is our hope that by the end of this article the reader will be able to make a more informed decision about robotic surgery before “chasing the market.”

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Topics: Robotic surgery (60%)

914 Citations

Abstract: A variety of medical robots for stereotactic neurosurgery has been developed in recent years. Almost of all these robots use computed tomography (CT) to scan the brain of the patient before and during surgery. Currently, we are developing a needle insertion manipulator for magnetic resonance imaging (MRI)-guided neurosurgery. MRI techniques, including MRI angiography and functional MRI, are attractive for the development of interventional MRI therapies and operations. If a robot were available, these therapies would be minimally invasive, with more accurate guidance than is possible with current CT-guided systems. Actuation of a robot in an MRI environment is difficult because of the presence of strong magnetic fields. Therefore, the robot must be constructed of nonmagnetic materials. The system frame was manufactured using polyethylene terephthalate (PET) and was actuated using ultrasonic motors. Accuracy-evaluation procedures and phantom tests have been performed. The total accuracy of the system was approximately 3.0 mm. No artifacts caused by the manipulator were observed in the images.

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316 Citations

Open accessJournal ArticleDOI: 10.1080/09720502.2020.1761635
Vaibhav Bhatnagar1, Ramesh C. Poonia2, Pankaj Nagar3, Sandeep Kumar4  +3 moreInstitutions (5)
Abstract: COVID-19 is now becoming a global issue and declared as pandemic by world health organization. This virus spread out from China to entire world. This paper performed a descriptive analysis of COVID...

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Topics: Pandemic (55%), Context (language use) (54%)

68 Citations

Open accessJournal ArticleDOI: 10.1080/09720529.2020.1784535
Abstract: Predicting the probability of CORONA virus outbreak has been studied in recent days, but the published literature seldom contains multiple model comparisons or predictive analysis of uncertainty. T...

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63 Citations

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