Paper Info
Title
Fuzzy logic control of a continuum manipulator for surgical applications
Abstract
This paper presents a recent study on robotic control of a continuum manipulator. In view of nonlinear dynamic characteristics of its model, we propose a fuzzy logic controller that is designed based on state-feedback control of the system linearizations. First, a unified kinematic model and the Jacobi-ans are described. Then, we derive the state-space model form and linearize it at six operating points. Next, we design a controller for each linearized local model. Last, a fuzzy logic methodology is utilized to smoothly blend the six designed local controllers. The proposed controller is verified in MATLAB simulation and manipulator tip is autonomously navigated to the designated target. Besides, a comparison result for the optimized controller and the non-optimized counterpart is presented.
Year
DOI
Venue
2014
10.1109/ROBIO.2014.7090366
ROBIO
Keywords
Field
DocType
medical robotics,state-feedback control,unified kinematic model,nonlinear dynamic characteristics,nonlinear dynamical systems,state feedback,surgical applications,fuzzy logic control,matlab simulation,manipulators,fuzzy control,continuum manipulator,surgery,state-space model,kinematics,fuzzy logic,robot kinematics
Fuzzy logic control,Control theory,Nonlinear system,Kinematics,Control theory,Manipulator,Fuzzy logic,Continuum (design consultancy),Robot kinematics,Control engineering,Mathematics
Conference
Citations 
PageRank 
References 
2
0.40
12
Authors
6
Name
Order
Citations
PageRank
Peng Qi1354.49
Chuang Liu2542.99
Lin'an Zhang320.40
Shuxin Wang44411.24
H. K. Lam53618193.15
Kaspar Althoefer6847112.87