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  1. بهبود دقت جراحی رباتیک با استفاده از بازخورد لمسی در حضور تأخیرهای ارتباطی متغیر با زمان
بهبود دقت جراحی رباتیک با استفاده از بازخورد لمسی در حضور تأخیرهای ارتباطی متغیر با زمان
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بهبود دقت جراحی رباتیک با استفاده از بازخورد لمسی در حضور تأخیرهای ارتباطی متغیر با زمان

الماسی، علی Almasi, Ali

Improving Accuracy of Robotic Surgery Using Haptic Feedback in the Presence of Time-Varying Communication Delays

Almasi, Ali | 2024

190 Viewed
  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 57051 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Saadat Foumani, Mahmoud; Zohoor, Hassan
  7. Abstract:
  8. In this research, with the objective of position tracking and force reflection for teleoperated robotic surgery systems, which are subject to uncertainties, external disturbances, and variable time delays, new control algorithms based on Lyapunov stability are introduced. Initially, using a robust adaptive control approach and considering uncertainties and external disturbances, the first control algorithm for position tracking is designed. Then, the second control algorithm is introduced in the presence of variable deterministic time delays based on a fuzzy adaptive control approach. Subsequently, random variable time delays are considered, and the third control algorithm is developed accordingly. In the fourth control algorithm the number of fuzzy estimation parameters are reduced to a single parameter. Finally, the fifth control algorithm for position tracking and force reflection is introduced using an adaptive impedance control approach in the presence of uncertainties, external disturbances, and random variable time delays. It is worth noting that the main difference of this research with previous studies lies in reducing fuzzy estimations and creating force reflection and position tracking in the presence of uncertainties, external disturbances, and random variable time delays. A two-degree-of-freedom robotic system is used for simulating control algorithms, and the simulation results are presented
  9. Keywords:
  10. Position Tracking ; Adaptive Robust Control ; Adaptive Fuzzy Control ; Adaptive Impedance Control ; Lyapunov Stability ; Robotic Telesurgery ; Teleoperation System

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