Intelligent Trajectory Tracking Control of Robot-Assisted Surgery

نویسندگان
چکیده

برای دانلود باید عضویت طلایی داشته باشید

برای دانلود متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

منابع مشابه

Robust Sliding Mode Controller for Trajectory Tracking and Attitude Control of a Nonholonomic Spherical Mobile Robot

Based on dynamic modeling, robust trajectory tracking control of attitude and position of a spherical mobile robot is proposed. In this paper, the spherical robot is composed of a spherical shell and three independent rotors which act as the inner driver mechanism. Owing to rolling without slipping assumption, the robot is subjected to two nonholonomic constraints. The state space representatio...

متن کامل

Trajectory Tracking Control of Robot Manipulators

In this paper a simulink based approach is developed for trajectory tracking of robot manipulator. A robot manipulator is widely used in many industrial application. A robot manipulator moves the end effector to the configuration instructed by the user. The input from the main unit is transformed in to the desired configuration through forward kinematics. This configuration is sent to the robot...

متن کامل

A Novel Robust Adaptive Trajectory Tracking in Robot Manipulators

In this paper, a novel adaptive sliding mode control for rigid robot manipulators is proposed. In the proposed system, since there may exist explicit unknown parameters and perturbations, a Lyapunov based approach is presented to increase system robustness, even in presence of arbitrarily large (but not infinite) discontinuous perturbations. To control and track the robot, a continuous controll...

متن کامل

Recurrent Neural Control for Robot Trajectory Tracking

This paper extends the results previously obtained for trajectory tracking of unknown plants using recurrent neural networks. The proposed controller structure is composed of a neural identifier and a control law defined by using the inverse optimal control approach, which has been improved so that less inputs than states are needed. The proposed new control scheme is applied to the control a r...

متن کامل

Intelligent Tracking and Trajectory Navigation Approach for Blimp Robot

Recently, there has been increasing interest in autonomous navigation for the Unmanned Airship Vehicles (UAV) in indoor environments since they have the ability to navigate in low altitude and low speed for exploration applications. In this paper, we presented a two layer fuzzy approach to light-weight embedded blimp system navigates in unknown environment. The fuzzy rules base for the first la...

متن کامل

ذخیره 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: 2015

ISSN: 1738-9968

DOI: 10.14257/ijhit.2015.8.5.08