Fuzzy Controller for Continuum Robots

Abstract

Continuum robots are very dexterous to be used in different applications. Such applications range from the minimal invasive surgery and endoscopic examination to metal welding in congested environment such as oil pipes. Both continuum and serpentine robots are mimicking the motion of biologically inspired continuum fashion motion of animal kingdom, by bending through continuous arcs. Continuum robots could produce motion by pneumatic actuators which are actually gas or fluid filled with certain degree of freedom. Such robots could produce motion in every direction in a continuous fashion without axial rotation. Following the orientation of surface, continuum robots trace out some angular displacement values with the outside force by bending down in a certain direction. We have to compensate for the degree of bending by producing deformation in the opposite direction, without making a penetration into the delicate parts of the body. In our research main focus is on designing a fuzzy controller which is responsible for aligning the continuous motion when it leads through certain closed regions. When robotize medical device are inserted inside human then end effector is effected by external force, which could be blood perturbation in our case. Both Fuzzy controller and PID controller is compensating for the bending produced in the tip position of end effector, and keep in erectile position to avoid any blockage of blood. It is demonstrated that for safety critical applications, fuzzy controller’s performs better than the conventional PID controller.