Control challenges in non-minimum phase tele-robotics systems

S. F. Atashzar, H. A. Talebi, M. Shahbazi, F. Towhidkhah, R. V. Patel, S. Shojaei

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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.

Original languageEnglish (US)
Title of host publication2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2011
Pages152-157
Number of pages6
DOIs
StatePublished - 2011
Event2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2011 - Budapest, Hungary
Duration: Jul 3 2011Jul 7 2011

Publication series

NameIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

Conference

Conference2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2011
CountryHungary
CityBudapest
Period7/3/117/7/11

Keywords

  • Flexible manipulators
  • Human in the loop
  • Non-minimum phase systems
  • Telerobotics

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Science Applications
  • Electrical and Electronic Engineering

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