Force Signal Tuning for a Surgical Robotic Arm Using PID Controller

摘要

In this paper, the modeling, control and simulation of a robotic arm is presented. The goal of the controller is to improve and adjust the output force of the arm using Proportional Integral Differential (PID) controllers. Lately the application of robotics in the field of surgery has opened fields of research that has helped ensure the accuracy, durability, dexterity and the ability for repetition. The combination of the human surgeon's judgmental capabilities with these aforementioned characteristics proves to be an interestingly challenging duo/encounter. The studied system is simulated to consist of the equations of the dynamic motion of the robotic arm with the controller participation. Using the concept of force balance between the surgical robotic arm and the organ, PID controllers are added to smoothen and to slow down the output impact force of the robot in all dimensions. The system is investigated without any control system, with PI controller and PID controller. Different gain values for PID controllers are studied. Output obtained from the simulation show satisfactory response.