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An application of IMPACT structure to bilateral teleoperations

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  • Communication
  • Computer Science
  • Medicine


An Application of IMPACT Structure to Bilateral Teleoperations An Application of IMPACT Structure to Bilateral Teleoperations Alper Denasi, Dragan Kostic´, Member, IEEE and Henk Nijmeijer Fellow, IEEE Abstract— Time-delays typically cause stability and perfor- mance problems in teleoperation systems. As a remedy for such problems in position-error based bilateral teleoperations, a control algorithm is proposed which is derived as a ro- bust modification of a Smith predictor structure for time- delay compensation. The considered modification is based on an application of the Internal Model Principle And Control Together (IMPACT). The resulting algorithm allows rejection of disturbances from a known class, that act at the output of the slave. Linear dynamics are considered for both master and slave manipulators and it is assumed that the time-delay due to communication is constant and known upto a certain degree of accuracy. The algorithm is illustrated in simulations. I. INTRODUCTION THE research field of teleoperations has its roots backin the 1950’s and it has progressed quite much in the past three decades [1]. In teleoperations, a manipulator located at a remote environment performs an intended task, such as minimally invasive surgery, nuclear waste disposal, manipulation of an object, etc. This manipulator is controlled by a human operator who is at some remote location [2]. The operator’s commands are sent to the manipulator through a communication channel. In the case of bilateral teleopera- tions, sensor data from the controlled manipulator (the slave) are sent back to the operator through the same or another communication channel. In teleoperated systems, when the local and remote sites are seperated by long distances or when the communication medium is the Internet, time-delayed responses of the slave manipulator to the operator commands can be encountered due to their communication at distance. On one hand, the slave may respond with delays to the operator’s command

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