Control schemes for teleoperation with time delay: A comparative study

Arcara, P.; Melchiorri, Claudio

doi:10.1016/s0921-8890(01)00164-6

Cited by 365 publications

(197 citation statements)

References 16 publications

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“…Time-based algorithms can predict the next steps of multiple operators and compute and represent a pertinent state to all participants. This has been used extensively in online gaming (2,6,10,17). Although this is not directly applicable to telesurgery, the network architecture underlying such systems may be useful.…”

Section: What Type Of Automation Is Appropriate For Telesurgery?mentioning

confidence: 99%

Long‐distance robotic telesurgery: a feasibility study for care in remote environments

Rayman

Croome

Galbraith

et al. 2006

Robotics Computer Surgery

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Section: What Type Of Automation Is Appropriate For Telesurgery?mentioning

confidence: 99%

Long‐distance robotic telesurgery: a feasibility study for care in remote environments

Rayman

Croome

Galbraith

et al. 2006

Robotics Computer Surgery

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“…Further details concerning the comparison of these and others telemanipulation control schemes, the tuning of the parameters and the maximum performances obtainable with each scheme can be found in [20,21]. As shown in these works, stability and performances are always conflictual aspects, and the choice of the control parameters is often the result of a trade-off between them.…”

Section: Comparison Criteria and Resultsmentioning

confidence: 99%

“…2. In the following, some control schemes taken from the literature are briefly summarized, see [19,20] for further details on these and others control schemes. …”

Section: Basic Definitions and Control Schemesmentioning

confidence: 99%

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Comparison and Improvement of Control Schemes for Robotic Teleoperation Systems with Time Delay

Arcara

Melchiorri²

2004

Springer Tracts in Advanced Robotics

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Abstract. Telemanipulation, one of the first area in robotics to be developed, still attracts a noticeable research activity. In particular, several control schemes have been proposed for controlling telemanipulation systems with time delay, a problem that does not seem to be solved yet in a satisfactory manner. In this context, the goals of these notes are twofold. First, some criteria are presented and used in order to analyze and compare control techniques already known in the literature. This study can help the control designer in pointing out the basic features of a given methodology and in the definition of the relative control parameters. Second, a particular control scheme, the so-called IPC (Intrinsically Passive Control), is discussed in detail, and it is shown that proper modifications of the basic scheme can improve its performances in terms of the proposed criteria.

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“…Considering the combined effects of not only the dynamic and kinematic uncertainties but also time delay in the communication channel of a teleoperation system is interesting yet beyond the scope of this paper. For a survey of teleoperation control schemes under time delay, please see [19].…”

Section: Introductionmentioning

confidence: 99%

Adaptive control of uncertain nonlinear teleoperation systems

2014

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Kinematic parameters of a robotic manipulator are hard to measure precisely and the varying size and shape of tools held by the robot end-effector introduce further kinematic uncertainties.Moreover, the exact knowledge of the robot nonlinear dynamics may be unavailable due to model uncertainties. While adaptive master-slave teleoperation control strategies in the literature consider the dynamic uncertainties in the master and the slave robots, they stop short of accounting for the robots' kinematic uncertainties, which can undermine the transparency of the teleoperation system. In this paper, for a teleoperation system that is both dynamically and kinematically uncertain, we propose novel nonlinear adaptive controllers that require neither the exact knowledge of the kinematics of the master and the slave nor the dynamics of the master, the slave, the human operator, and the environment. Therefore, the proposed controllers can provide the master and slave robots with a high degree of flexibility in dealing with unforeseen changes and uncertainties in their kinematics and dynamics. A Lyapunov function analysis is conducted to mathematically prove the stability and master-slave asymptotic position tracking. The validity of the theoretical results is verified through simulations as well as experiments on a bilateral teleoperation test-bed of rehabilitation robots.

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Control schemes for teleoperation with time delay: A comparative study

Cited by 365 publications

References 16 publications

Long‐distance robotic telesurgery: a feasibility study for care in remote environments

Long‐distance robotic telesurgery: a feasibility study for care in remote environments

Comparison and Improvement of Control Schemes for Robotic Teleoperation Systems with Time Delay

Adaptive control of uncertain nonlinear teleoperation systems

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