Abstract
Cross-coupled synchronization is an effective method of controlling an articulated robot especially in applications with restrictive requirements and low tolerance to error. Model-free methods of cross-coupled synchronization provide similar performance in cases where models are difficult or impossible to obtain. Here a novel model-free cross-coupled adaptive synchronization method is developed and applied to a Natural Orifice Transluminal Endoscopic Surgery (NOTES) robot - where reducing contour error has the important benefit of reducing the risk of surgical error and improving patient outcomes. To accomplish this, a baseline model-free cross coupled strategy is used, and an adaptive control gain and a balance scaling factor are used to improve the performance. Experiments are then performed validating the functionality and effectiveness of the controller using a NOTES robot. The results show significant improvement in decreasing contour error when compared with similar methods.
Original language | English (US) |
---|---|
Pages (from-to) | 473-489 |
Number of pages | 17 |
Journal | Journal of Intelligent and Robotic Systems: Theory and Applications |
Volume | 95 |
Issue number | 2 |
DOIs | |
State | Published - Aug 15 2019 |
Keywords
- Adaptive gain
- Balance scaling
- Cross-coupled control
- Model-free control
- Motion synchronization
- NOTES robot
ASJC Scopus subject areas
- Software
- Control and Systems Engineering
- Mechanical Engineering
- Industrial and Manufacturing Engineering
- Artificial Intelligence
- Electrical and Electronic Engineering