Force feedback control design for nonideal teleoperators

M.J. Beelen; G.J.L. Naus; M.J.G. Molengraft, van de; M. Steinbuch

doi:10.1016/j.conengprac.2013.08.002

Force feedback control design for nonideal teleoperators

M.J. Beelen, G.J.L. Naus, M.J.G. Molengraft, van de, M. Steinbuch

Research output: Contribution to journal › Article › Academic › peer-review

7 Citations (Scopus)

5 Downloads (Pure)

Abstract

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.

Original language	English
Pages (from-to)	1694-1705
Number of pages	12
Journal	Control Engineering Practice
Volume	21
Issue number	12
DOIs	https://doi.org/10.1016/j.conengprac.2013.08.002
Publication status	Published - 2013

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Beelen, M. J., Naus, G. J. L., Molengraft, van de, M. J. G., & Steinbuch, M. (2013). Force feedback control design for nonideal teleoperators. Control Engineering Practice, 21(12), 1694-1705. https://doi.org/10.1016/j.conengprac.2013.08.002

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