Adaptive proportional-integral-derivative control for surgical plane cable-driven robots

摘要

Robotic technology has greatly improved the success rate of the surgeries by transmitting complicated operations from the surgeon to the tool. In this way, cable-driven robots operate in narrow spaces and take high loads with low weights and costs. This research work presents an adaptive Proportional-Integral-Derivative (PID) controller for surgical plane cable-driven robots and optimizes the gains by employing a Particle Swarm Optimization (PSO) approach. In this way, the general equation of kinematics and dynamics of the robot are investigated regarding a closed chain mechanism and the actuators adjoined to the base. An adaptive PID controller based on the robust sliding surfaces and gradient descent rules is applied to handle the end-effector (tool) to different desired conditions. The proper values of the control gains are found by using the PSO algorithm as a swarm-based technique for minimizing the output errors. The simulation results clearly indicate the capability of the introduced control approach to tracking the constant and time-dependent desired trajectories in the presence of external disturbances.