Cross-coupled synchronization is an effective method of controlling an articulated robot especially in applications with restrictive requirements and low tolerance to error. Model-free methods of cross-coupled synchronization provide similar performance in cases where models are difficult or impossible to obtain. Here a novel model-free cross-coupled adaptive synchronization method is developed and applied to a Natural Orifice Transluminal Endoscopic Surgery (NOTES) robot - where reducing contour error has the important benefit of reducing the risk of surgical error and improving patient outcomes. To accomplish this, a baseline model-free cross coupled strategy is used, and an adaptive control gain and a balance scaling factor are used to improve the performance. Experiments are then performed validating the functionality and effectiveness of the controller using a NOTES robot. The results show significant improvement in decreasing contour error when compared with similar methods. Keywords Model-free control · Cross-coupled control · Motion synchronization · Adaptive gain · Balance scaling · NOTES robot 1 Introduction in which the associated time delay occurs asynchronously in the actuators. This problem becomes more complicated In some robotics applications, there often exist conflicting in multi-axis robots with different types of actuators since goals such as maximizing performance (e.g., speed, force)
Journal of Intelligent & Robotic Systems – Springer Journals
Published: Jun 2, 2018
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