15772

1624 دكتري

دكتري

كنترل

اصفهان : دانشگاه صنعتي اصفهان

1399

پانزده، 143ص.: مصور، جدول، نمودار

مريم ذكري، فريد شيخ‌الاسلام

محمد دانش، حميد صادقيان

ايمان ايزدي، مرضيه كمالي

1399/07/02

كتابنامه

برق

مهندسي برق و كامپيوتر

1399/07/02

2634562

Intelligent and Robust Compliant Control of Robotic Manipulators for Operating in Unknown Surgical Environments Mohammad Hossein Hamedani mh hamedani@ec iut ac ir August 25 2020 Department of Electrical and Computer Engineering Isfahan University of Technology Isfahan 84156 83111 Iran Degree Ph D Language Farsi Supervisor1st Dr Maryam Zekri mzekri@iut ac ir Supervisor2nd Prof Farid Sheikholeslam sheikh@iut ac ir Advisor1st Dr Mohammad Danesh danesh@iut ac ir Advisor2nd Dr Hamid Sadeghian h sadeghian@eng ui ac ir Abstract The compliant controller is an effective controller method widely used in order to perform surgical tasks In this study the interaction environment has two main properties The first one is that the parameters of the environment such as thestiffness are unknown and the second one is that the position of the environment is not available In this regard the variableimpedance controller is considered as the main compliant controller of this work In order to interact with the unknown sur gical environment three challenges including robustness adaptation and stability of the variable impedance are consideredas the main parts of the thesis For the robustness of the variable impedance we proposed the dynamic surface controllerusing the intelligent approach such as a fuzzy and wavelet neural network to eliminate the uncertainties and disturbances As the second challenge and in order to interact with the unknown surgical environment we presented a noble formulationfor the impedance profile to update the impedance parameters using intelligent methods such as wavelet neural network andfuzzy mechanism The last challenge is the stability of the variable impedance Updating the impedance parameters makesthe impedance profile as a time varying system which can lead to system instability Therefore we proposed approachesto guarantee the stability of the impedance profile as an important part of this study Finally we induce various simulationsand implementation using da Vinci and IIWA robotic manipulators to evaluate the performance of the proposed approaches Key Words Variable Impedance Control Compliant Control Wavelet Neural Network Unknownand Dynamic Environment Dynamic Surface

مريم ذكري، فريد شيخ‌الاسلام

محمد دانش، حميد صادقيان

ايمان ايزدي، مرضيه كمالي