Semi-Real Evaluation, and Adaptive Control of a 6DOF Surgical Robot

فاقد چكيده فارسي

Surgical robotic revolution has not just assisted surgeons to perform sophisticated surgeries, but also increased accuracy, reduced risk, operative and recovery time. Parallel mechanisms are widely used for designing of surgical robots due to their advantage of low inertia and high precision. Specific surgical procedures confine and restrict their workspace, while controlling and validating the robots are complicated based on their complex dynamic. To this end, in this paper, a 6-DOF robot, with linear manipulators, is designed and controlled. Addressing the inherent nonlinearity of the system, an adaptive PID controller is employed and validated with nonlinear model. The main objective of the paper is implementing the controller using MATLAB on the nonlinear model designed in Adams software as online. Furthermore, as feasibility study, a 3-axis gyro sensor is calibrated and used to produce complex real movements and desires, which is sending real time signals to MATLAB with microcontroller ATmega 2560. Simulation result shows that the adaptive controller identifies the system’s dynamic and proceed in error reduction path. In addition, the method defines the workspace of both the states and forces which can be an introduction to comprehensive design of such robots.