Intelligent Control System Design for a Teleoperated Endoscopic Surgical Robot

摘要

This paper concerns with the control system design for a teleoperated endoscopic surgical manipulator system that uses PHANTOM Omni haptic device as the master and a 4-DOF parallel manipulator (2-PUU_2-PUS) as the slave. PID control algorithm was used to achieve the trajectory tracking, but the error in each actuated joint reached 0.6 mm which is not satisfactory in surgical application. The design of a control algorithm for achieving high trajectory tracking is needed. Simulation on the virtual prototype of the 4-DOF parallel manipulator has been achieved by combining MATLAB/Simulink with ADAMS. Fuzzy logic controller is designed and tested using the interface between ADAMS and MATLAB/Simulink. Signal constraint block adjusted the controller parameters for each actuated prismatic joint to eliminate the overshoot in most of position responses. The simulation results illustrate that the fuzzy logic control algorithm can achieve high trajectory tracking. Also, they show that the fuzzy controller has reduced the error by approximately 50 percent.