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The communication channel delay can adversely affect performance and stability of bilateral teleoperation systems. This paper proposes a discrete-time linear quadratic Gaussian (LQG) controller that delivers a transparent stable response in the presence of constant communication latency. Different controllers are designed for each phase of operation, i.e. free motion and contact with rigid environments...
In this paper, an adaptive control scheme is developed for an n-DOF nonlinear time-variant teleoperation system with large time delays in the communication channels. To make the stability of the overall system be independent of the communication delay, two nonlinear adaptive motion/force controllers are bilaterally designed for both master and slave manipulators. A compliant force feedback loop is...
We propose a novel approach for modeling the end-to-end time-delay dynamics of the Internet using system identification, and apply it to control real-time telerobotic operations via Internet with specific quality of service (QoS) offerings. To do this, we have employed system identification techniques and the ARX model to obtain the values of relevant parameters and study their dynamics. The results...
In this paper, an adaptive motion/force controller is developed for bilateral teleoperation systems. Design of an output feedback model reference adaptive controller (MRAC) at the remote site improves the position/velocity response with stability guarantee and a similar controller at the master site enhances the force tracking as the transmission time delay varies
In this paper, a shared impedance control scheme is proposed for Internet-based teleoperation of mobile robots. Also, pilot study is conducted to evaluate the effect of different teleoperation parameters. In particular, the effects of time delay, human operator training history, operator-machine interface modalities such as degree of haptic versus visual integration, and performance of virtual model...
In teleoperation systems, delay time in communication channel may distort the signals, and can lead to system instability. By prediction of delay time in the Internet, we can use new structures for creating high performance systems in teleoperation systems. This paper describes a neural network-based method for prediction of delay time in the Internet. By using measured data (delay time between four...
This paper describes the control system and user command interfaces developed for a lightweight, compact, endoscope camera manipulator prototype for robot-assisted minimally invasive surgery. A complete teleoperated minimally invasive surgical system in development is also based on using lightweight, compact manipulators with simple, reliable, and robust controllers. The endoscope manipulator is controlled...
This paper is proposed a disturbance estimation property of internal model control by using the reduced order observer-based stabilizing controller. A control structure for a master-slave teleoperation system by a two-finger robot hand is also discussed. By using the reduced order observer-based stabilizing controller, the proposed method is able to estimate reflection force on the slave side without...
An adaptive nonlinear control framework for multi-master/multi-slave teleoperation is proposed. A fully connected communication architecture is considered, which allows for transmission of position and force information between all master and slave robots. The operators are presented with a virtual intervening tool in order to collaboratively interact with the task environment. Models of operators,...
Neurosurgery can take significant advantages from the introduction of computer and robot technologies. As a matter of fact, the major benefits of robots, such as precision, accuracy and repeatability make them ideal neurosurgeons' assistants. This paper presents a master-slave haptic robotic system for minimally invasive neurosurgery, which can aid surgeons in performing safer and more accurate stereotactic...
Random delays can cause instability in realtime closed-loop Internet-based telerobotic systems. We propose a novel approach for modeling the end-to-end time delay dynamics of the Internet using system identification, and use it for controlling real-time Internet-based telerobotic operations. When a single model is used, it needs to adapt to the operating conditions before an appropriate control mechanism...
Teleoperation systems strive to accurately render often unstructured environments to operators. However, due to the existing delays in the communication channel, transparent performance and stability are compromised. This paper presents a new class of teleoperation predictive controllers, in which the dynamics of the environment is mapped and simulated at the master side using two neural networks...
This paper investigates how the network induced delay together with stabilizing strategies affect the performance of haptic telepresence systems in terms of transparency (human operators should feel as if they were directly acting in the remote environment). Therefore, the mechanical impedance (force over velocity) perceived by the human operator is compared with the real environment impedance in...
The goal of our research is a construction of an Internet-based real image teleoperation system that realizes the comfortable and efficient operation under the existence of the network time delay "without using the remote environment model." In teleoperation, monitoring the condition of the remote environment is very important for human operator's visual feedback loop. However, the captured...
This paper deals with the problem of guiding an operator during the execution of a 5 degrees of freedom surgical teleoperation task. The work is focused on the feasibility of a spine surgery telerobotic system, made up of a haptic master, a slave robot, an optical tracking device and a main control unit. With this system, the surgeon performs a drilling operation by using a telerobotic device, being...
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