This paper presents the theoretical and experimental evaluation of a 2-Channel bilateral Force Reflection teleoperation system. The teleoperation system is a master-slave bilateral system based on two parallel kinematics robots with three degree of freedom, which has been devised for the validation of robotics assisted surgery procedures. Both master and slave systems present an isomorphic kinematics which allow only translational motion of the end-effector. The aim of the present work is to evaluate two different implementations of a Force Reflection control architectures: a Position Error Based Force Reflection Control and a Direct Force Reflection Control. The two architectures are compared in terms of performance, i.e. stability and transparency, on the basis of both simulations and experimental data. Some novel theoretical results are presented, which permit a direct evaluation of performance for both the two architectures.
Theoretical and experimental evaluation of a 2-Channel bilateral Force Reflection teleoperation system
FRISOLI, Antonio;SOTGIU, Edoardo;S. MARCHESCHI;AVIZZANO, Carlo Alberto;BERGAMASCO, Massimo
2004-01-01
Abstract
This paper presents the theoretical and experimental evaluation of a 2-Channel bilateral Force Reflection teleoperation system. The teleoperation system is a master-slave bilateral system based on two parallel kinematics robots with three degree of freedom, which has been devised for the validation of robotics assisted surgery procedures. Both master and slave systems present an isomorphic kinematics which allow only translational motion of the end-effector. The aim of the present work is to evaluate two different implementations of a Force Reflection control architectures: a Position Error Based Force Reflection Control and a Direct Force Reflection Control. The two architectures are compared in terms of performance, i.e. stability and transparency, on the basis of both simulations and experimental data. Some novel theoretical results are presented, which permit a direct evaluation of performance for both the two architectures.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
