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Development of a Control Method for Realizing Flexible Motion in Medical Robots

Sharifi, Mojtaba | 2012

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 43281 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Vossoughi, Gholamreza; Behzadipour, Saeed
  7. Abstract:
  8. The main purpose of this project is to propose a control method for medical robots (such as rehabilitation and surgical robots), such that they can be moved conveniently by the users’s hand while he senses a controllable resistance. For that purpose, a Model Reference Adaptive Impedance Control method is developed for controlling the robot end-effector impedance in Cartesian coordinates. The proposed nonlinear controller and the desired impedance model are presented in Cartesian coordinates of the robot end-effector which is sensible for the human user. The adaptation law is derived and a corresponding Lyapunov stability is provided to prove the asymptotic tracking of the impedance model. By using two different sliding surfaces and two different adaptation laws, the four controllers are proposed. For evaluation of the controllers, simulations and experimental studies are done on a robot with two degrees of freedom. Furthermore, a bilateral Model Reference Adaptive Control method is developed for teleoperation systems such as teleoperation surgical robots. The main purpose of the proposed nonlinear controller is controlling the end-effector impedance of the master robot (interacting with the user’s hand) and the slave robot (interacting with environment) in Cartesian space. Lyapunov stability and Absolute stability of the proposed teleoperation system with considering delay in communication channel are provided. The proposed method is evaluated by simulations on the same robots with two degrees of freedom
  9. Keywords:
  10. Model Reference Adaptive Control ; Adaptive Impedance Control ; Bilateral Adoptive Impedance Control ; Rehabilitation Robots ; Surgical Robots ; Teleoperation System

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