Title :
Adaptive robust control for bilateral teleoperators in soft environments
Author :
Wang, Xiaoguang ; Liu, Peter X. ; Wang, Shuyan
Author_Institution :
Dept. of Syst. & Comput. Eng., Carleton Univ., Ottawa, Ont., Canada
fDate :
29 July-1 Aug. 2005
Abstract :
Previous research on teleoperators concentrates on the interaction between teleoperators and very stiff environments. For applications such as telesurgery, the remote environment is soft such that the stability constraint becomes less critical. At the same time, the performance or fidelity for bilateral teleoperators becomes a significant issue. This paper studies how to achieve higher fidelity of force feedback in bilateral teleoperators under the stability constraint. Specifically, a new fidelity measure for multiple DOF teleoperation systems was proposed and an adaptive robust control method was applied to improve the fidelity of the system.
Keywords :
adaptive control; robust control; telecontrol; adaptive control; bilateral teleoperators; fidelity measure; force feedback fidelity; multiple DOF; soft environments; stability constraint; teleoperation system; telesurgery; Adaptive control; Force feedback; Humans; Impedance; Programmable control; Robot sensing systems; Robust control; Stability; Surgery; Teleoperators;
Conference_Titel :
Mechatronics and Automation, 2005 IEEE International Conference
Print_ISBN :
0-7803-9044-X
DOI :
10.1109/ICMA.2005.1626879