Design of Smoothing FOPID Sliding Mode Controlled Robotic Manipulator for Robotic Assisted Surgery
Shailu Sachan1, Pankaj Swarnkar2, Savita Nema3
1Shailu Sachan, Department of Electrical, Maulana Azad National Institute of Technology, Bhopal, India.
2Pankaj Swarnkar, Department of Electrical, Maulana Azad National Institute of Technology, Bhopal, India.
3Savita Nema, Department of Electrical, Maulana Azad National Institute of Technology, Bhopal, India.
Manuscript received on 09 March 2019 | Revised Manuscript received on 17 March 2019 | Manuscript published on 30 July 2019 | PP: 5002-5007 | Volume-8 Issue-2, July 2019 | Retrieval Number: B1078078219/19©BEIESP | DOI: 10.35940/ijrte.B1078.078219
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© The Authors. Blue Eyes Intelligence Engineering and Sciences Publication (BEIESP). This is an open access article under the CC-BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/)
Abstract: Robotic-assisted surgery (RAS) is a mode of technical advancement in the medical field that utilizes robotic articulation to aid surgeries. The fine-motion and precise control of robotic manipulator is prerequisite in surgical applications. In this paper, the improved control methodology for controlling the 3DOF (degree of freedom) robotic manipulator’s motion named as smoothing fractional order proportional integral derivative-sliding mode control (FOPID-SMC) for the attainment of finest results by eliminating the perturbations has been showcased. The performance of smoothing FOPID-SMC controller in robotic manipulator is compared with the conventional SMC controllers. The simulation results prominently illustrate the efficacy of the proposed methodology, and superior tracking and robust performance with alleviated chattering compared to the classical methodologies.
Index Terms: DOF (Degree of Freedom), FOPID-SMC, Robotic-Assisted Surgery (RAS), Robotic Manipulator, SMC
Scope of the Article: Robotics