TY - JOUR
T1 - Force feedback control design for nonideal teleoperators
AU - Beelen, M.J.
AU - Naus, G.J.L.
AU - Molengraft, van de, M.J.G.
AU - Steinbuch, M.
PY - 2013
Y1 - 2013
N2 - 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.
AB - 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.
U2 - 10.1016/j.conengprac.2013.08.002
DO - 10.1016/j.conengprac.2013.08.002
M3 - Article
VL - 21
SP - 1694
EP - 1705
JO - Control Engineering Practice
JF - Control Engineering Practice
SN - 0967-0661
IS - 12
ER -