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Authors: Ludivina Facundo (Centro de Investigación y de Estudios Avanzados del Instituto Politécnico Nacional Unidad Saltillo) , Arturo Baltazar (Centro de Investigación y de Estudios Avanzados del Instituto Politécnico Nacional Unidad Saltillo) , Chidentree Treesatayapun (Centro de Investigación y de Estudios Avanzados del Instituto Politécnico Nacional Unidad Saltillo)
Force and orientation control of an ultrasonic probe for medical application is performed free-hand by the practitioner. This operation requires a careful adjusting of the probe force and orientation until the target region is located. In this work, an adaptive control based on neuro-fuzzy networks is proposed to address the challenge of force and orientation control with a six degrees of freedom (6DOF) manipulator. Minimum force error and maximum ultrasonic energy are seek to adapt the control parameters in the algorithm. Test of stability control and numerical analysis were performed. The control was experimentally tested on a soft material (tissue mimicking phantom). The experimental results show that the proposed robotic system exhibits high sensitivity to initial contact, in and out of the normal orientation on sample with limited information of its surface topology and orientation.
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How to Cite: Facundo, L. , Baltazar, A. & Treesatayapun, C. (2019) “Orientation control of an ultrasonic soft contact probe based on neuro-fuzzy networks”, Review of Progress in Quantitative Nondestructive Evaluation.(0).