Paper Information

Journal:   MODARES MECHANICAL ENGINEERING   MARCH 2017 , Volume 16 , Number 12 #F0074; Page(s) 637 To 647.
 
Paper: 

ROBUST ADAPTIVE IMPEDANCE CONTROL IN SCARA ROBOT MANIPULATOR FOR ROBOTIC CELL INJECTION

 
 
Author(s):  GHASSEMI ZAHAN ZEINAB*, AKBARZADEH KALAT ALI, FATEH MOHAMAD MEHDI
 
* DEPARTMENT OF ROBOTIC ENGINEERING, EQBAL INSTITUTE OF HIGHER EDUCATION, MASHHAD, IRAN
 
Abstract: 

Cell injection system in medicine is used to inject the materials into the cells. The injection system consists of injector and rotating plate. The controller sets height, position and orientation of the rotating plate. The proposal of this article is to replace SCARA robot injection tool including ability in desired position tracking and is applied to time-varying force. In recent articles the control system is applied to the rotating plate of cells and this method can cause damage. The proposed method is fixed plate and to increase the success rate, the robot is been controlled. The parameters of environmental models are estimated by nonlinear proposed models and by using the recursive method, the minimum of square errors will be optimal. The voltage strategy can control robot actuators. This method is simpler and free from the manipulator dynamics. In all recent studies, the impedance control is based on the torque control method and the proposed method of this article is to apply the impedance control using voltage control. The robust adaptive impedance controller is designed in the presence of uncertainties. The simulation's results demonstrate desired performance of the proposed method.

 
Keyword(s): FORCE-IMPEDANCE CONTROL, PARAMETER ESTIMATION, SCARA ROBOT DYNAMIC, VOLTAGE STRATEGY, ROBOTIC CELL INJECTION
 
References: 
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