Control of time-delayed telerobotic systems with flexible-link slave manipulators

S. Farokh Atashzar, M. Shahbazi, H. A. Talebi, R. V. Patel

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

Abstract

This paper focuses on control challenges caused by the slave-arm flexibility in master-slave telerobotic systems. Apart from time delay, the nonlinear non-minimum phase deflection of flexible-link slave manipulators creates extra challenges for control of telerobotic systems. These challenges have forced most of the prior research to use basic simplifications. In this paper, we try to remove most of the simplifications using a more realistic model for slave deflections. The degrading effects of flexibility on stability and performance of conventional telerobotics architectures are analyzed. Then, the standard Extended Lawrence Four- Channel (ELFC) control architecture is modified to obtain the stability condition and to enhance performance. Finally, the input-to-output stability (IOS) Small-Gain Theorem is used to generalize the stability criteria for varying delay and to remove the restrictive assumption of deflection-linearity. The proposed architecture consists of a local Partial Feedback Linearization scheme embedded into a modified ELFC architecture. This study is motivated by the use of light-weight cable driven tools in telerobotic surgery.

Original languageEnglish (US)
Title of host publication2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012
Pages3035-3040
Number of pages6
DOIs
StatePublished - 2012
Event25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012 - Vilamoura, Algarve, Portugal
Duration: Oct 7 2012Oct 12 2012

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

Conference25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012
CountryPortugal
CityVilamoura, Algarve
Period10/7/1210/12/12

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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