Force feedback control design for nonideal teleoperators
| Autor: | Gjl Gerrit Naus, van de René René Molengraft, M Maarten Steinbuch, Maarten Beelen |
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| Přispěvatelé: | Control Systems Technology, Mechanical Engineering |
| Jazyk: | angličtina |
| Rok vydání: | 2013 |
| Předmět: |
Engineering
business.industry Applied Mathematics Passivity Force sensor Computer Science Applications Teleoperated robot Control and Systems Engineering Control theory Invasive surgery Time domain Electrical and Electronic Engineering business Electrical impedance Simulation Shunt (electrical) Haptic technology |
| Zdroj: | Control Engineering Practice, 21(12), 1694-1705. Elsevier |
| ISSN: | 0967-0661 |
| Popis: | Achieving force feedback for a nonideal teleoperator is challenging, due to complications such as friction, force sensor noise, non-backdriveability and structural resonances. Furthermore, non-collocation of the force sensors and the point of interaction results in shunt dynamics that degrade the interaction force estimation. In this paper, a method is presented to model, identify and compensate for the influence of shunt dynamics. Furthermore, a recently developed two-layer approach that enforces passivity in the time domain is implemented and evaluated in a practical setup that is dedicated for application in surgery. Experiments demonstrate that using a combination of these techniques with an impedance reflecting controller, stable bilateral interaction with both soft and hard environments is achieved, for a nonideal system. A teleoperated robot for minimally invasive surgery is used as a representative example of a nonideal surgical system. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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