Open AccessDesign of Smoothing FOPID Sliding Mode Controlled Robotic Manipulator for Robotic-Assisted Surgery
Author(s) -
Shailu Sachan,
Pankaj Swarnkar,
Savita Nema
Publication year - 2019
Publication title -
international journal of recent technology and engineering
Language(s) - English
Resource type - Journals
ISSN - 2277-3878
DOI - 10.35940/ijrte.b1078.078219
Subject(s) - smoothing , robot manipulator , computer science , control theory (sociology) , controller (irrigation) , manipulator (device) , robotic surgery , mode (computer interface) , control engineering , robot , simulation , artificial intelligence , engineering , control (management) , computer vision , human–computer interaction , agronomy , biology
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 derivativesliding 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.