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Force Signal Controlling of Surgical Robotic Arm using GA-PID Controller


Umesh Kumar Saket , Jabalpur Engineering College, Jabalpur (MP) India


Surgical Robotic Arm, Force Balance Concept, Force Signal Tuning, PID Controller With Genetic Algorithm


In this paper output force controlling for three degree freedom (DOF) surgical robotic arm by using genetic algorithm with PID controller. The aim of the controller is to improve and adjust the output force of the arm and optimization parameters such as kp, ki and kd by Genetic Algorithm without hit and trial method is taken. The optimization design methods often consider the system requirements for quickness, reliability, and accuracy. This robot is used in the field of surgery. So surgical robotic arm require don’t oscillate and no max. Overshoot. This paper performs to reduce the oscillation, max. Overshoot, settling time, response time and improves stability of system.

Other Details

Paper ID: IJSRDV3I40381
Published in: Volume : 3, Issue : 4
Publication Date: 01/07/2015
Page(s): 879-880

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