Time delayed non-minimum phase slave tele-robotics

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

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

Abstract

Challenges created by non-minimum phase slave robots in time delayed telerobotics systems is the main focus of this paper. This new category of telerobotics systems has many practical applications such as minimally invasive time delayed tele-surgeries. The non-minimum phase (NMP) tele-manipulation creates many challenges especially in presence of communication time delay. In this article, a thorough analysis on the impacts of NMP slaves on the stability and transparency of the time delayed telerobotics is given. Additionally, a control-architecture is proposed for this category of teleoperation. The transparency and stability of the proposed controller are mathematically analyzed. This architecture called the Pseudo Three-Channel (PTC). Experimental results are performed to illustrate the effectiveness of the proposed control structure.

Original languageEnglish (US)
Title of host publication2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011
Pages3952-3957
Number of pages6
DOIs
StatePublished - 2011
Event2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011 - Orlando, FL, United States
Duration: Dec 12 2011Dec 15 2011

Publication series

NameProceedings of the IEEE Conference on Decision and Control
ISSN (Print)0191-2216

Other

Other2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011
CountryUnited States
CityOrlando, FL
Period12/12/1112/15/11

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization

Fingerprint Dive into the research topics of 'Time delayed non-minimum phase slave tele-robotics'. Together they form a unique fingerprint.

  • Cite this

    Atashzar, S. F., Talebi, H. A., Shahbazi, M., Towhidkhah, F., & Patel, R. V. (2011). Time delayed non-minimum phase slave tele-robotics. In 2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011 (pp. 3952-3957). [6160513] (Proceedings of the IEEE Conference on Decision and Control). https://doi.org/10.1109/CDC.2011.6160513