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General Information
Prof. Wael Badawy
Department of Computing and Information Systems Umm Al Qura University, Canada
I'm happy to take on the position of editor in chief of IJCTE. We encourage authors to submit papers concerning any branch of computer theory and engineering.
IJCTE 2012 Vol.4(2): 148-152 ISSN: 1793-8201
DOI: 10.7763/IJCTE.2012.V4.440

Force Signal Tuning for a Surgical Robotic Arm Using PID Controller

Gamal I. Selim, Noha H. El- Amary, and Dina M. Aboul Dahab

Abstract—In this paper, the modeling, control and simulation of a robotic arm is presented. The goal of the controller is to improve and adjust the output force of the arm using Proportional Integral Differential (PID) controllers. Lately the application of robotics in the field of surgery has opened fields of research that has helped ensure the accuracy, durability, dexterity and the ability for repetition. The combination of the human surgeon’s judgmental capabilities with these aforementioned characteristics proves to be an interestingly challenging duo/encounter. The studied system is simulated to consist of the equations of the dynamic motion of the robotic arm with the controller participation. Using the concept of force balance between the surgical robotic arm and the organ, PID controllers are added to smoothen and to slow down the output impact force of the robot in all dimensions. The system is investigated without any control system, with PI controller and PID controller. Different gain values for PID controllers are studied. Output obtained from the simulation show satisfactory response.

Index Terms—Surgical robotic arm, force balance concept, force signal tuning, PID controller effect.

Authors are with the Department of Computer Engineering, Arab Academy for Science and Technology and Maritime Transportation, Cairo, Egypt (email: dgamalselim@aast.edu, noha_helamary@hotmail.com, dina_aboul_dahab@hotmail.com).


Cite: Gamal I. Selim, Noha H. El- Amary, and Dina M. Aboul Dahab, "Force Signal Tuning for a Surgical Robotic Arm Using PID Controller," International Journal of Computer Theory and Engineering vol. 4, no. 2, pp. 148-152, 2012.

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