Technical Brief

Control of a Cable-Driven Platform in a Master–Slave Robotic System: Linear Parameter Varying Approach

[+] Author and Article Information
Amirhossein Salimi

Dynamic System Control Laboratory,
Department of Mechanical Engineering,
University of Houston,
Houston, TX 77004
e-mail: asalimi@uh.edu

Amin Ramezanifar

Dynamic System Control Laboratory,
Department of Mechanical Engineering,
University of Houston,
Houston, TX 77004
e-mail: aramezanifar@uh.edu

Karolos M. Grigoriadis

Department of Mechanical Engineering,
University of Houston,
Houston, TX 77004
e-mail: karolos@uh.edu

1Corresponding author.

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received January 10, 2014; final manuscript received April 5, 2015; published online June 2, 2015. Assoc. Editor: Evangelos Papadopoulos.

J. Dyn. Sys., Meas., Control 137(9), 094502 (Sep 01, 2015) (6 pages) Paper No: DS-14-1014; doi: 10.1115/1.4030389 History: Received January 10, 2014; Revised April 05, 2015; Online June 02, 2015

Space restrictions prevent surgeons to directly interact with the patient during magnetic resonance imaging (MRI)-guided procedures. One practical solution would be to develop a robotic system that can act as an interface between surgeon and patient during those interventions. The proposed system consists of a commercial PHANTOM device (product of The Sensable Technologies) as the master robot and an MRI-compatible patient-mounted parallel platform (that we name ROBOCATHETER) designed to serve as the slave mechanism inside the scanner bore. As the main contribution of this paper, a linear parameter varying (LPV) gain-scheduling controller is designed and implemented to obtain the desired performance of the slave robot in tracking set points and reference trajectories. To do so, a reduced-order dynamic model of the robot based on the Lagrange method is derived to capture the nonlinear dynamics of the platform. The model is then used for the design of an output-feedback LPV controller to command the robot to position the catheter in any desired states. During the course of control, appropriate selection of scheduling parameters not only helps to compensate for the nonlinearities of the system dynamics but also leads to a set of decoupled models for the system, where each degree-of-freedom (DOF) could be treated separately. The performance of the controller is compared with a variable-gain proportional-derivative-integral (PID) controller. Experimental results show that the proposed control scheme has significant advantages in terms of set point tracking and actuator saturation over the baseline PID controller.

Copyright © 2015 by ASME
Your Session has timed out. Please sign back in to continue.


Gomes, P., 2011, “Surgical Robotics: Reviewing the Past, Analysing the Present, Imagining the Future,” Rob. Comput. Integr. Manuf., 27(2), pp. 261–266. [CrossRef]
Fischer, G., Iordachita, I., Csoma, C., Tokuda, J., DiMaio, S., Tempany, C., Hata, N., and Fichtinger, G., 2008, “MRI-Compatible Pneumatic Robot for Transperineal Prostate Needle Placement,” IEEE/ASME Trans. Mechatronics, 13(3), pp. 295–305. [CrossRef]
Horgan, S., Vanuno, D., Sileri, P., Cicalese, L., and Benedetti, E., 2002, “Robotic-Assisted Laparoscopic Donor Nephrectomy for Kidney Transplantation,” Transplantation, 73(9), pp. 1474–1479. [CrossRef] [PubMed]
Genden, E., Desai, S., and Sung, C., 2009, “Transoral Robotic Surgery for the Management of Head and Neck Cancer: A Preliminary Experience,” Head Neck, 31(3), pp. 283–289. [CrossRef] [PubMed]
Boyd, W., Rayman, M., Desai, N., Menkis, A., Dobkowski, W., Ganapathy, S., Kiaii, B., Jablonsky, G., McKenzie, F., and Novick, R., 2000, “Closed-Chest Coronary Artery Bypass Grafting on the Beating Heart With the Use of a Computer-Enhanced Surgical Robotic System,” J. Thorac. Cardiovasc. Surg., 120(4), pp. 807–809. [CrossRef] [PubMed]
Li, M., Kapoor, A., Mazilu, D., Wood, B., and Horvath, K., 2010, “Cardiac Interventions Under MRI Guidance Using Robotic Assistance,” IEEE International Conference on Robotics and Automation (ICRA), pp. 2574–2579.
Yeniaras, E., Deng, Z., Davies, M., Syed, M., and Tsekos, N., 2011, “A Novel Virtual Reality Environment for Preoperative Planning and Simulation of Image Guided Intracardiac Surgeries With Robotic Manipulators,” Stud. Health Technol. Inf., 163, pp. 716–722.
Abdelaziz, S., Esteveny, L., Renaud, P., Bayle, B., Barbé, L., De Mathelin, M., and Gangi, A., 2011, “Design Considerations for a Novel MRI Compatible Manipulator for Prostate Cryoablation,” Int. J. Comput. Assisted Radiol. Surg., 6(6), pp. 811–819. [CrossRef]
Salimi, A., Ramezanifar, A., Mohammadpour, J., Grigoriadis, K. M., and Tsekos, N. V., 2014, “Design and Qualification of a Parallel Robotic Platform to Assist With Beating-Heart Intracardiac Interventions,” ASME J. Mech. Rob., 6(2), p. 021004. [CrossRef]
Rocco, P., 1996, “Stability of PID Control for Industrial Robot Arms,” IEEE Trans. Rob. Autom., 12(4), pp. 606–614. [CrossRef]
Craig, J., 2004, Introduction to Robotics: Mechanics and Control, Prentice Hall, Englewood Cliffs, NJ.
Hester, T., Quinlan, M., and Stone, P., 2012, “RTMBA: A Real-Time Model-Based Reinforcement Learning Architecture for Robot Control,” IEEE International Conference on Robotics and Automation (ICRA), pp. 85–90.
Thumati, B., Dierks, T., and Sarangapani, J., 2012, “A Model-Based Fault Tolerant Control Design for Nonholonomic Mobile Robots in Formation,” J. Def. Model. Simul., 9(1), pp. 17–31. [CrossRef]
Ramezanifar, A., Salimi, A., Mohammadpour, J., Kilicarslan, A., Grigoriadis, K., and Tsekos, N., 2011, “Linear Parameter Varying Control of a Robot Manipulator for Aortic Valve Implantation,” ASME Paper No. DSCC2011-6186, pp. 121–127. [CrossRef]
Mohammadpour, J., and Scherer, C., 2012, Control of Linear Parameter Varying Systems With Applications, Springer-Verlag, New York. [CrossRef]
Bianchi, F., Mantz, R., and Christiansen, C., 2005, “Gain Scheduling Control of Variable-Speed Wind Energy Conversion Systems Using Quasi-LPV Models,” Control Eng. Pract., 13(2), pp. 247–255. [CrossRef]
Niu, B., and Zhang, H., 2012, “Linear Parameter-Varying Modeling for Gain-Scheduling Robust Control Synthesis of Flexible Joint Industrial Robot,” Procedia Eng., 41, pp. 838–845. [CrossRef]
Salimi, A., Ramezanifar, A., Mohammadpour, J., and Grogoriadis, K. M., 2013, “Development of a Master–Slave Robotic System for MRI-Guided Intracardiac Interventions,” ASME Dynamic Systems and Control Conference, ASME Paper No. DSCC2013-3936. [CrossRef]
Salimi, A., Ramezanifar, A., Mohammadpour, J., and Grigoriadis, K., 2013, “Gain-Scheduling Control of a Cable-Driven MRI-Compatible Robotic Platform for Intracardiac Interventions,” American Control Conference (ACC), pp. 746–751.
Merlet, J., 2006, Parallel Robots, Springer-Verlag, New York.
Nonami, K., and Sivrioglu, S., 1996, “Active Vibration Control Using LMI-Based Mixed H2/H∞; State and Output Feedback Control With Nonlinearity,” Decis. Control, 1, pp. 161–166.
Apkarian, P., and Adams, R., 1998, “Advanced Gain-Scheduling Techniques for Uncertain Systems,” IEEE Trans. Control Syst. Technol., 6(1), pp. 21–32. [CrossRef]


Grahic Jump Location
Fig. 1

Master–slave system configuration

Grahic Jump Location
Fig. 2

Parallel mechanism architecture

Grahic Jump Location
Fig. 3

Transmission system

Grahic Jump Location
Fig. 4

Output-feedback controller design

Grahic Jump Location
Fig. 5

Step responses of translation DOF

Grahic Jump Location
Fig. 6

Control efforts regarding to translation DOF

Grahic Jump Location
Fig. 7

Response of the slave device (rotational DOF)

Grahic Jump Location
Fig. 8

Response of the slave device (translational DOF)




Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In