Robust controller analysis and design of medical Haptic control system
Joint Authors
Source
Engineering and Technology Journal
Issue
Vol. 35, Issue 4A (30 Apr. 2017), pp.318-326, 9 p.
Publisher
Publication Date
2017-04-30
Country of Publication
Iraq
No. of Pages
9
Main Subjects
Engineering & Technology Sciences (Multidisciplinary)
Abstract EN
Haptic interfaces for medial simulation prove to be especially useful for training in minimally invasive procedures.
In this research, a framework that consists of relevant representation of operator and environment dynamic of a tele-manipulated haptic system is implemented.
The uncertainty model of the operator and environment models is considered as well to study the influence on the aspects of stability and performance.
The framework of H∞ loop shaping robust controller design is applied, then the stability and performance analysis is investigated.
Parametric robust control design method is used as well for comparison.
The v-gap metric is considered to develop an accurate measurement of uncertainty.
Based on the obtained value of the v-gap an efficient procedure of robust control design is applied.
The obtained values of v- gap were 0.1112 for the master and 9.755*10-4 for the slave parts of the haptic system, which indicate improved robustness of stability and performance as compared with the obtained values from parametric robust controller design.
American Psychological Association (APA)
Rafat, Safanah Mazhar& Husayn A. Ali. 2017. Robust controller analysis and design of medical Haptic control system. Engineering and Technology Journal،Vol. 35, no. 4A, pp.318-326.
https://search.emarefa.net/detail/BIM-795452
Modern Language Association (MLA)
Rafat, Safanah Mazhar& Husayn A. Ali. Robust controller analysis and design of medical Haptic control system. Engineering and Technology Journal Vol. 35, no. 4A (2017), pp.318-326.
https://search.emarefa.net/detail/BIM-795452
American Medical Association (AMA)
Rafat, Safanah Mazhar& Husayn A. Ali. Robust controller analysis and design of medical Haptic control system. Engineering and Technology Journal. 2017. Vol. 35, no. 4A, pp.318-326.
https://search.emarefa.net/detail/BIM-795452
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references : p. 325-326
Record ID
BIM-795452