Paper Info
Title
Time delayed non-minimum phase slave tele-robotics
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.
Year
DOI
Venue
2011
10.1109/CDC.2011.6160513
Decision and Control and European Control Conference
Keywords
Field
DocType
control system analysis,delays,telerobotics,PTC architecture,communication time delay,minimally invasive time delayed telesurgeries,nonminimum phase slave robot,nonminimum phase telemanipulation,pseudothree-channel architecture,teleoperation category,telerobotics stability,telerobotics transparency,time delayed telerobotics system
Teleoperation,Transparency (graphic),Control theory,Control theory,Computer science,Control engineering,Artificial intelligence,Robot,Telerobotics,Robotics,Minimum phase
Conference
ISSN
ISBN
Citations 
0743-1546 E-ISBN : 978-1-61284-799-3
978-1-61284-799-3
0
PageRank 
References 
Authors
0.34
0
5
Name
Order
Citations
PageRank
Seyed Farokh Atashzar14013.16
Heidar Ali Talebi217632.23
Mahya Shahbazi3508.01
Farzad Towhidkhah412214.94
R V Patel517930.10