Performance investigation of PID controller in trajectory control of two-link robotic manipulator in medical robots
- Title
- Performance investigation of PID controller in trajectory control of two-link robotic manipulator in medical robots
- Creator
- Jayaswal K.; Palwalia D.K.; Kumar S.
- Description
- Robot-assisted surgical procedures have gained much coverage in recent years and favored over manually conducted operations. The medical robots are comprised of manipulators arm that is the multi-degree of freedom positioning devices with a highly non-linear nature to perform various surgical tasks. Due to non-linear effects, robots offer a severe challenge to the control system. Therefore, the control techniques are required for controlling the robots that should be fast enough to accommodate the rapid changes in the system parameters. In this article, the Proportional-Integral-Derivative (PID) controllers performance has been investigated in trajectory control of the Two-Link Robotic Manipulator (TLRM) for reliable functioning of these robots. Tracking error and Control input factors have been used to investigate the PID controllers robustness in trajectory control of TLRM. Eulers-lagrange approach has been used for dynamic analysis of TLRM. This work has been accomplished in the MATLAB/ Simulink environment. 2021 Taru Publications.
- Source
- Journal of Interdisciplinary Mathematics, Vol-24, No. 2, pp. 467-478.
- Date
- 2021-01-01
- Publisher
- Taru Publications
- Subject
- 68T20; 93C85; Medical robots; PID controller; Remote surgery; Robotic manipulator; TLRM; WHO
- Coverage
- Jayaswal K., Department of Electrical Engineering, Rajasthan Technical University, Kota, 324009, Rajasthan, India; Palwalia D.K., Department of Electrical Engineering, Rajasthan Technical University, Kota, 324009, Rajasthan, India; Kumar S., Department of Computer Science and Engineering, CHRIST (Deemed to be University), Bangalore, 560074, Karnataka, India
- Rights
- Restricted Access
- Relation
- ISSN: 9720502
- Format
- Online
- Language
- English
- Type
- Article
Collection
Citation
Jayaswal K.; Palwalia D.K.; Kumar S., “Performance investigation of PID controller in trajectory control of two-link robotic manipulator in medical robots,” CHRIST (Deemed To Be University) Institutional Repository, accessed February 25, 2025, https://archives.christuniversity.in/items/show/16030.