On sliding mode controller for tele-manipulation robot system with soft tissue environment

Tele-manipulation robot system may become unstable and hard to control in surgery operation due to the existence of nonlinear soft tissue environment. By dynamic model and the definition of ideal performance, a new control scheme is designed which can guarantee stability and performance, In this new control scheme, the impedance control is used for the master device, while the sliding-mode control is used for the slave device. A teleoperation experiment system is also developed. The experiment results show that the controller designed in this paper is efficient and robust and the system can attain better scaled tracking of position and force with nonlinear soft tissue environment.