Kinematics and fuzzy control of ISOGLIDE3 medical parallel robot

Abstract

Medical robotics is a relatively new branch of robotics.The paper presents an innovative user interface forthe control of a 3 DOF ISOGLIDE3 parallel robot. TheISOGLIDE3 robot described in (Stan, 2008), offers thesuperior characteristics with regards to the other parallelmanipulators, such as the light weight construction. Theinterface presented in this paper enables the user to applyPID and fuzzy controller together. The robot interface usingvirtual reality was verified and tested, and results presentedin MATLAB, Simulink, and SimMechanics. Thefuzzy controller was numerically simulated on problems oftrajectory tracking. The simulation results demonstratedthe superiority of fuzzy control over traditional PID control.