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International Journal of Intelligent Systems and Applications(IJISA)

ISSN: 2074-904X (Print), ISSN: 2074-9058 (Online)

Published By: MECS Press

IJISA Vol.5, No.9, Aug. 2013

Adaptive Artificial Intelligence Based Model Base Controller: Applied to Surgical Endoscopy Telemanipulator

Full Text (PDF, 658KB), PP.103-115


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Author(s)

Farzin Piltan, Ali Badri, Javad Meigolinedjad, Mohammad Keshavarz

Index Terms

Surgical Robot Assistant, Computed Torque Like Methodology, Fuzzy Logic Controller, Sliding Mode Switching Part, Telemanipulator

Abstract

This research involved developing a surgical robot assistant using an articulated PUMA robot running on a linear or nonlinear axis. The research concentrated on studying the artificial intelligence based switching computed torque controller to localization of an endoscopic tool. Results show that the switching artificial nonlinear control algorithm is capable to design a stable controller. For this system, error was used as the performance metric. Positioning of the endoscopic manipulator relative to the world coordinate frame was possible to within 0.05 inch. Error in maintaining a constant point in space is evident during repositioning however this was caused by limitations in the robot arm.

Cite This Paper

Farzin Piltan, Ali Badri, Javad Meigolinedjad, Mohammad Keshavarz,"Adaptive Artificial Intelligence Based Model Base Controller: Applied to Surgical Endoscopy Telemanipulator", IJISA, vol.5, no.9, pp.103-115, 2013.DOI: 10.5815/ijisa.2013.09.12

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[13]Farzin Piltan , N. Sulaiman, Zahra Tajpaykar, Payman Ferdosali, Mehdi Rashidi, “Design Artificial Nonlinear Robust Controller Based on CTLC and FSMC with Tunable Gain,” International Journal of Robotic and Automation, 2 (3): 205-220, 2011.

[14]Farzin Piltan, A. R. Salehi and Nasri B Sulaiman.,” Design artificial robust control of second order system based on adaptive fuzzy gain scheduling,” world applied science journal (WASJ), 13 (5): 1085-1092, 2011.

[15]Farzin Piltan, N. Sulaiman, Atefeh Gavahian, Samira Soltani, Samaneh Roosta, “Design Mathematical Tunable Gain PID-Like Sliding Mode Fuzzy Controller with Minimum Rule Base,” International Journal of Robotic and Automation, 2 (3): 146-156, 2011.

[16]Farzin Piltan , A. Zare, Nasri B. Sulaiman, M. H. Marhaban and R. Ramli, , “A Model Free Robust Sliding Surface Slope Adjustment in Sliding Mode Control for Telemanipulator,” World Applied Science Journal, 12 (12): 2330-2336, 2011.

[17]Farzin Piltan , A. H. Aryanfar, Nasri B. Sulaiman, M. H. Marhaban and R. Ramli “Design Adaptive Fuzzy Robust Controllers for Robot Manipulator,” World Applied Science Journal, 12 (12): 2317-2329, 2011.

[18]Farzin Piltan, N. Sulaiman , Arash Zargari, Mohammad Keshavarz, Ali Badri , “Design PID-Like Fuzzy Controller With Minimum Rule Base and Mathematical Proposed On-line Tunable Gain: Applied to Robot Manipulator,” International Journal of Artificial intelligence and expert system, 2 (4):184-195, 2011.

[19]Farzin Piltan, Nasri Sulaiman, M. H. Marhaban and R. Ramli, “Design On-Line Tunable Gain Artificial Nonlinear Controller,” Journal of Advances In Computer Research, 2 (4): 75-83, 2011.

[20]Farzin Piltan, N. Sulaiman, Payman Ferdosali, Iraj Assadi Talooki, “ Design Model Free Fuzzy Sliding Mode Control: Applied to Internal Combustion Engine,” International Journal of Engineering, 5 (4):302-312, 2011.

[21]Farzin Piltan, N. Sulaiman, Samaneh Roosta, M.H. Marhaban, R. Ramli, “Design a New Sliding Mode Adaptive Hybrid Fuzzy Controller,” Journal of Advanced Science & Engineering Research , 1 (1): 115-123, 2011. 

[22]Farzin Piltan, Atefe Gavahian, N. Sulaiman, M.H. Marhaban, R. Ramli, “Novel Sliding Mode Controller for robot manipulator using FPGA,” Journal of Advanced Science & Engineering Research, 1 (1): 1-22, 2011.

[23]Farzin Piltan, N. Sulaiman, A. Jalali & F. Danesh Narouei, “Design of Model Free Adaptive Fuzzy Computed Torque Controller: Applied to Nonlinear Second Order System,” International Journal of Robotics and Automation, 2 (4):232-244, 2011.

[24]Farzin Piltan, N. Sulaiman, Iraj Asadi Talooki, Payman Ferdosali, “Control of IC Engine: Design a Novel MIMO Fuzzy Backstepping Adaptive Based Fuzzy Estimator Variable Structure Control ,” International Journal of Robotics and Automation, 2 (5):360-380, 2011.

[25]Farzin Piltan, N. Sulaiman, Payman Ferdosali, Mehdi Rashidi, Zahra Tajpeikar, “Adaptive MIMO Fuzzy Compensate Fuzzy Sliding Mode Algorithm: Applied to Second Order Nonlinear System,” International Journal of Engineering, 5 (5): 380-398, 2011. 

[26]Farzin Piltan, N. Sulaiman, Hajar Nasiri, Sadeq Allahdadi, Mohammad A. Bairami, “Novel Robot Manipulator Adaptive Artificial Control: Design a Novel SISO Adaptive Fuzzy Sliding Algorithm Inverse Dynamic Like Method,” International Journal of Engineering, 5 (5): 399-418, 2011.

[27]Farzin Piltan, N. Sulaiman, Sadeq Allahdadi, Mohammadali Dialame, Abbas Zare, “Position Control of Robot Manipulator: Design a Novel SISO Adaptive Sliding Mode Fuzzy PD Fuzzy Sliding Mode Control,” International Journal of Artificial intelligence and Expert System, 2 (5):208-228, 2011.

[28]Farzin Piltan, SH. Tayebi HAGHIGHI, N. Sulaiman, Iman Nazari, Sobhan Siamak, “Artificial Control of PUMA Robot Manipulator: A-Review of Fuzzy Inference Engine And Application to Classical Controller ,” International Journal of Robotics and Automation, 2 (5):401-425, 2011.

[29]Farzin Piltan, N. Sulaiman, Abbas Zare, Sadeq Allahdadi, Mohammadali Dialame, “Design Adaptive Fuzzy Inference Sliding Mode Algorithm: Applied to Robot Arm,” International Journal of Robotics and Automation , 2 (5): 283-297, 2011. 

[30]Farzin Piltan, Amin Jalali, N. Sulaiman, Atefeh Gavahian, Sobhan Siamak, “Novel Artificial Control of Nonlinear Uncertain System: Design a Novel Modified PSO SISO Lyapunov Based Fuzzy Sliding Mode Algorithm ,” International Journal of Robotics and Automation, 2 (5): 298-316, 2011.

[31]Farzin Piltan, N. Sulaiman, Amin Jalali, Koorosh Aslansefat, “Evolutionary Design of Mathematical tunable FPGA Based MIMO Fuzzy Estimator Sliding Mode Based Lyapunov Algorithm: Applied to Robot Manipulator,” International Journal of Robotics and Automation, 2 (5):317-343, 2011.

[32]Farzin Piltan, N. Sulaiman, Samaneh Roosta, Atefeh Gavahian, Samira Soltani, “Evolutionary Design of Backstepping Artificial Sliding Mode Based Position Algorithm: Applied to Robot Manipulator,” International Journal of Engineering, 5 (5):419-434, 2011.

[33]Farzin Piltan, N. Sulaiman, S.Soltani, M. H. Marhaban & R. Ramli, “An Adaptive sliding surface slope adjustment in PD Sliding Mode Fuzzy Control for Robot Manipulator,” International Journal of Control and Automation , 4 (3): 65-76, 2011. 

[34]Farzin Piltan, N. Sulaiman, Mehdi Rashidi, Zahra Tajpaikar, Payman Ferdosali, “Design and Implementation of Sliding Mode Algorithm: Applied to Robot Manipulator-A Review ,” International Journal of Robotics and Automation, 2 (5):265-282, 2011.

[35]Farzin Piltan, N. Sulaiman, Amin Jalali, Sobhan Siamak, and Iman Nazari, “Control of Robot Manipulator: Design a Novel Tuning MIMO Fuzzy Backstepping Adaptive Based Fuzzy Estimator Variable Structure Control ,” International Journal of Control and Automation, 4 (4):91-110, 2011.

[36]Farzin Piltan, N. Sulaiman, Atefeh Gavahian, Samaneh Roosta, Samira Soltani, “On line Tuning Premise and Consequence FIS: Design Fuzzy Adaptive Fuzzy Sliding Mode Controller Based on Lyaponuv Theory,” International Journal of Robotics and Automation, 2 (5):381-400, 2011.

[37]Farzin Piltan, N. Sulaiman, Samaneh Roosta, Atefeh Gavahian, Samira Soltani, “Artificial Chattering Free on-line Fuzzy Sliding Mode Algorithm for Uncertain System: Applied in Robot Manipulator,” International Journal of Engineering, 5 (5):360-379, 2011.

[38]Farzin Piltan, N. Sulaiman and I.AsadiTalooki, “Evolutionary Design on-line Sliding Fuzzy Gain Scheduling Sliding Mode Algorithm: Applied to Internal Combustion Engine,” International Journal of Engineering Science and Technology, 3 (10):7301-7308, 2011.

[39]Farzin Piltan, Nasri B Sulaiman, Iraj Asadi Talooki and Payman Ferdosali.,” Designing On-Line Tunable Gain Fuzzy Sliding Mode Controller Using Sliding Mode Fuzzy Algorithm: Applied to Internal Combustion Engine,” world applied science journal (WASJ), 15 (3): 422-428, 2011.

[40]Farzin Piltan, N. Sulaiman, M. H. Marhaban, Adel Nowzary, Mostafa Tohidian,” “Design of FPGA based sliding mode controller for robot manipulator,” International Journal of Robotic and Automation, 2 (3): 183-204, 2011.

[41]Samira Soltani & Farzin Piltan, “Design Artificial Nonlinear Controller Based on Computed Torque like Controller with Tunable Gain”. World Applied Science Journal,14 (9): 1306-1312, 2011.

[42]Farzin Piltan, H. Rezaie, B. Boroomand, Arman Jahed,” Design robust back stepping online tuning feedback linearization control applied to IC engine,” International Journal of Advance Science and Technology, 42: 183-204, 2012.

[43]Farzin Piltan, I. Nazari, S. Siamak, P. Ferdosali ,”Methodology of FPGA-based mathematical error-based tuning sliding mode controller” International Journal of Control and Automation, 5(1): 89-110, 2012. 

[44]Farzin Piltan, M. A. Dialame, A. Zare, A. Badri,”Design Novel Lookup table changed Auto Tuning FSMC: Applied to Robot Manipulator” International Journal of Engineering, 6(1): 25-40, 2012.

[45]Farzin Piltan, B. Boroomand, A. Jahed, H. Rezaie ,”Methodology of Mathematical Error-Based Tuning Sliding Mode Controller” International Journal of Engineering, 6(2): 96-112, 2012.

[46]Farzin Piltan, F. Aghayari, M. R. Rashidian, M. Shamsodini,”A New Estimate Sliding Mode Fuzzy Controller for Robotic Manipulator” International Journal of Robotics and Automation, 3(1): 45-58, 2012.

[47]Farzin Piltan, M. Keshavarz, A. Badri, A. Zargari, ”Design novel nonlinear controller applied to robot manipulator: design new feedback linearization fuzzy controller with minimum rule base tuning method” International Journal of Robotics and Automation, 3(1): 1-18, 2012.

[48]Piltan, F., et al. "Design sliding mode controller for robot manipulator with artificial tunable gain". Canaidian Journal of pure and applied science, 5 (2), 1573-1579, 2011.

[49]Farzin Piltan, A. Hosainpour, E. Mazlomian, M.Shamsodini, M.H Yarmahmoudi. ”Online Tuning Chattering Free Sliding Mode Fuzzy Control Design: Lyapunov Approach” International Journal of Robotics and Automation, 3(3): 2012.

[50]Farzin Piltan, M.H. Yarmahmoudi, M. Shamsodini, E.Mazlomian, A.Hosainpour. ”PUMA-560 Robot Manipulator Position Computed Torque Control Methods Using MATLAB/SIMULINK and Their Integration into Graduate Nonlinear Control and MATLAB Courses” International Journal of Robotics and Automation, 3(3): 2012.

[51]Farzin Piltan, R. Bayat, F. Aghayari, B. Boroomand. “Design Error-Based Linear Model-Free Evaluation Performance Computed Torque Controller” International Journal of Robotics and Automation, 3(3): 2012.

[52]Farzin Piltan, S. Emamzadeh, Z. Hivand, F. Shahriyari & Mina Mirazaei. ” PUMA-560 Robot Manipulator Position Sliding Mode Control Methods Using MATLAB/SIMULINK and Their Integration into Graduate/Undergraduate Nonlinear Control, Robotics and MATLAB Courses” International Journal of Robotics and Automation, 3(3): 2012.

[53]Farzin Piltan, J. Meigolinedjad, S. Mehrara, S. Rahmdel. ” Evaluation Performance of 2nd Order Nonlinear System: Baseline Control Tunable Gain Sliding Mode Methodology” International Journal of Robotics and Automation, 3(3): 2012.

[54]Farzin Piltan, M. Mirzaie, F. Shahriyari, Iman Nazari & S. Emamzadeh.” Design Baseline Computed Torque Controller” International Journal of Engineering, 3(3): 2012.

[55]Farzin Piltan, M. A. Bairami, F. Aghayari, S. Allahdadi. ” Design Adaptive Artificial Inverse Dynamic Controller: Design Sliding Mode Fuzzy Adaptive New Inverse Dynamic Fuzzy Controller” International Journal of Robotics and Automation, 3(1): 2012.