Design High Frequency Surgical Robot Controller: Design FPGA-Based Controller for Surgical Robot Manipulator Simscape Modeling
نویسندگان
چکیده
منابع مشابه
FPGA-based Controller for a Mobile Robot
With application in the robotics and automation, more and more it becomes necessary the development of applications based on methodologies that facilitate future modifications, updates and enhancements in the original projected system. This project presents a conception of mobile robots using rapid prototyping, distributing the several control actions in growing levels of complexity and computi...
متن کاملANFIS+PID Hybrid Controller Design for Controlling of a 6-DOF Robot Manipulator and its Error Convergence Analysis
In this paper, an ANFIS+PID hybrid control policy has been addressed to control a 6-degree-of freedom (6-DOF) robotic manipulator. Then its error convergence has been also evaluated. The ability to formulate and estimate the system uncertainties and disturbances along with system dynamics and rejecting the disturbances effect are some advantages of the proposed method in comparing with the co...
متن کاملFPGA Based Five Axis Robot Arm Controller
The hardware and software co-design for five axes robot arm, is aimed to perform pick and place operation by controlling the speed and position, using FPGA, H-bridge driver and Sensor circuit. Digital PWM is used to control speed of DC motor. The hardware functional block designed in software module with the help of VHDL coding as FPGA technology has blurred the distinction between hardware and...
متن کاملController design for human-robot interaction
Many robotics tasks require a robot to share the same workspace with humans. In such settings, it is important that the robot performs in such a way that does not cause distress to humans in the workspace. In this paper, we address the problem of designing robot controllers which minimize the stress caused by the robot while performing a given task. We present a novel, data-driven algorithm whi...
متن کاملA New Methodology for Robot Controller Design
Gauss’ principle of least constraint and its generalizations have provided a useful insights for the development of tracking controllers for mechanical systems [1]. Using this concept, we present a novel methodology for the design of a specific class of robot controllers. With our new framework, we demonstrate that well-known and also several novel nonlinear robot control laws can be derived fr...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: International Journal of Hybrid Information Technology
سال: 2016
ISSN: 1738-9968,1738-9968
DOI: 10.14257/ijhit.2016.9.5.37