An observer-based adaptive impedance-control for robotic arms: Case study in SMOS robot

Gholami, Soheil; Arjmandi, Arash; Taghirad, Hamid D.

doi:10.1109/icrom.2016.7886816

Cited by 3 publications

(6 citation statements)

References 12 publications

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“…Impedance control for Stereotaxic Micro-telemanipulator for Ocular Surgery (SMOS) robot has been conducted using the observer-based adaptive method. 147 Observer-based adaptive impedance control is a Lyapunov-based method that requires defining an error for estimation in order to use Lyapunov stability theory for proving the stability of the system. The tracking results were shown to be good, and the method was robust to system uncertainties.…”

Section: Control Algorithmsmentioning

confidence: 99%

“…Briefly, the controllers 64,68,146,150 have been implemented experimentally in the real robots and have been tested only in simulation. [147][148][149]151 The sclera force plays a fundamental role in robotic eye surgery, and this force is controlled by Adaptive Norm Control (ANC) and Adaptive Component Control (ACC) methods. 59 These methods have been used to control the scleral force of eye surgery with the SHER robot and the results show that the ANC method can maintain scleral force at a safe level.…”

Section: Control Algorithmsmentioning

confidence: 99%

“…In this study, the authors used the PD controller for the experimental study, employing it to synchronize the slave RHAS robot with the movements of the master robot. Impedance control for Stereotaxic Micro‐telemanipulator for Ocular Surgery (SMOS) robot has been conducted using the observer‐based adaptive method 147 . Observer‐based adaptive impedance control is a Lyapunov‐based method that requires defining an error for estimation in order to use Lyapunov stability theory for proving the stability of the system.…”

Section: Available Technologiesmentioning

confidence: 99%

“…In Table 5, some controller algorithms of eye surgical robots are compared. Briefly, the controllers 64,68,146,150 have been implemented experimentally in the real robots and have been tested only in simulation 147–149,151 …”

Section: Available Technologiesmentioning

confidence: 99%

“…The tracking results were shown to be good, and the method was robust to system uncertainties. 147 The observer-based impedance control method has some features of a suitable controller for eye surgery, such as robustness and hand tremor reduction. However, the chattering problem and smooth control are the major disadvantages of this method.…”

Section: Control Algorithmsmentioning

confidence: 99%

See 4 more Smart Citations

Review on challenges for robotic eye surgery; surgical systems, technologies, cost‐effectiveness, and controllers

Abadi

Ordys

Kukiełka

et al. 2023

Robotics Computer Surgery

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In recent decades, a number of surgical systems have been developed and are applied for a growing variety of surgeries. This review will consider the significant challenges of robotic surgery for the eye. These challenges take into account the different eye diseases, available technologies, and costs in different surgical systems for the eye. The conditions of a suitable controller will be discussed with consideration of relevant control engineering concepts. Comparison is made between the different characteristics of surgical robots for the eye. In this review, some comparisons will be made in eye surgical robots, control algorithms, sensors in surgical robots, communication protocols, and actuators.

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Section: Control Algorithmsmentioning

confidence: 99%