Experimental validation of stability and performance for position-error-based tele-surgery

In this paper, we present experimental results of a Position-Error-Based bilateral control force reflecting control scheme, which is widely used for electro-mechanical systems. The aim of the present work is to investigate the applicability of this control scheme and compare its performances on a common used teleoperation system for compliance environment. The controller is compared on position, force tracking performance and system energy using two identical linear robots coupled via network model. Contrary to a commonly held view, it is proved that the teleoperation system can remain stable when the system energy goes negative. Overall, the comparison between coordinating force and the actual contact force is compared and slave stiffness on system stability is experimentally verified for one-DOF motion.

[1]  Dale A. Lawrence.  Stability and transparency in bilateral teleoperation , 1993, IEEE Trans. Robotics Autom..

[2]  Frans C. T. van der Helm,et al.  The Low-Stiffness Teleoperator Slave — a Trade-off between Stability and Performance , 2007, Int. J. Robotics Res..

[3]  Angel Rubio,et al.  Experimental quantitative comparison of different control architectures for master-slave teleoperation , 2004, IEEE Transactions on Control Systems Technology.

[4]  Wayne J. Book,et al.  Force reflecting teleoperation with adaptive impedance control , 2004, IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics).

[5]  Septimiu E. Salcudean,et al.  Analysis of Control Architectures for Teleoperation Systems with Impedance/Admittance Master and Slave Manipulators , 2001, Int. J. Robotics Res..

[6]  Tsuneo Yoshikawa,et al.  Bilateral control of master-slave manipulators for ideal kinesthetic coupling-formulation and experiment , 1994, IEEE Trans. Robotics Autom..

[7]  Jean-Jacques E. Slotine,et al.  Designing force reflecting teleoperators with large time delays to appear as virtual tools , 1997, Proceedings of International Conference on Robotics and Automation.

[8]  Septimiu E. Salcudean,et al.  On the use of local force feedback for transparent teleoperation , 1999, Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C).

[9]  W. S. Newman.  Stability and Performance Limits of Interaction Controllers , 1992 .

[10]  Kotaro Tadano,et al.  On extending model based passivity controller to multiple degree-of-freedom teleoperation systems , 2014, 2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014).

[11]  Mahdi Tavakoli,et al.  Transparent Time-Delayed Bilateral Teleoperation Using Wave Variables , 2008, IEEE Transactions on Control Systems Technology.

[12]  Mahdi Tavakoli,et al.  Revisiting Llewellyn's absolute stability criterion for bilateral teleoperation systems under non-passive operator or environment , 2012, 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[13]  Kenji Kawashima,et al.  Experimental comparison of backdrivability for time-delayed telerobotics , 2014 .

[14]  Jean-Jacques E. Slotine,et al.  Telemanipulation with Time Delays , 2004, Int. J. Robotics Res..

[15]  Dominiek Reynaerts,et al.  Bounded environment passivity of the classical Position-Force teleoperation controller , 2009, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[16]  Neville Hogan,et al.  Robust control of dynamically interacting systems , 1988 .

[17]  Simon S. Haykin,et al.  Active Network Theory. , 1970 .

[18]  Antonio Frisoli,et al.  Force‐based impedance control of a haptic master system for teleoperation , 2004 .

[19]  Mahdi Tavakoli,et al.  Stability and performance in delayed bilateral teleoperation: Theory and experiments , 2008 .

[20]  Antonio Barreiro,et al.  Stability of Teleoperation Systems for Time-Varying Delays by Neutral LMI Techniques , 2012 .

[21]  Mark W. Spong,et al.  Bilateral control of teleoperators with time delay , 1989 .

[22]  Zheng Li,et al.  Reducing Wave-Based Teleoperator Reflections for Unknown Environments , 2011, IEEE Transactions on Industrial Electronics.

[23]  Weiping Li,et al.  Applied Nonlinear Control , 1991 .

[24]  J. Edward Colgate.  The control of dynamically interacting systems , 1988 .

[25]  Dongjun Lee,et al.  Passive Bilateral Teleoperation With Constant Time Delay , 2006, IEEE Transactions on Robotics.