@inproceedings{f25e6dbeb4504c4d9afee6d79ed32111,
title = "Control challenges in non-minimum phase tele-robotics systems",
abstract = "In this paper, challenges caused by non-minimum phase slave robots in telerobotics systems in investigated for the first time. Non minimum phase (NMP)tele-manipulation creates many challenges which have not been investigated so far. Flexible-link slaves are common examples of NMP manipulators. In tele-surgical robotics, flexibility and non-minimum phase behaviors are caused by structural miniaturization which is vital in Minimally Invasive Surgeries (MIS). In this article, a through analysis on the impacts of non-minimum phase behavior on ideal telerobotics is given, and then a new control architecture called the Pseudo Three-Channel is proposed and the stability is mathematically analyzed. Furthermore, a case study upon the issue of human in the loop and delayed vision feedback is given.",
keywords = "Flexible manipulators, Human in the loop, Non-minimum phase systems, Telerobotics",
author = "Atashzar, {S. F.} and Talebi, {H. A.} and M. Shahbazi and F. Towhidkhah and Patel, {R. V.} and S. Shojaei",
year = "2011",
doi = "10.1109/AIM.2011.6027065",
language = "English (US)",
isbn = "9781457708381",
series = "IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM",
pages = "152--157",
booktitle = "2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2011",
note = "2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2011 ; Conference date: 03-07-2011 Through 07-07-2011",
}