| Title: |
Theoretical and experimental evaluation of a 2-Channel bilateral Force Reflection teleoperation system |
| Authors: |
FRISOLI, Antonio; SOTGIU, Edoardo; D. CHECCACCI; F. SIMONCINI; S. MARCHESCHI; BERGAMASCO, Massimo; AVIZZANO, Carlo Alberto |
| Contributors: |
Frisoli, Antonio; Sotgiu, Edoardo; Checcacci, D.; Simoncini, F.; Marcheschi, S.; Avizzano, Carlo Alberto; Bergamasco, Massimo |
| Publisher Information: |
Liophant Group; ITA; Genova |
| Publication Year: |
2004 |
| Collection: |
Scuola Universitaria Superiore Pisa Sant'Anna: CINECA IRIS |
| Description: |
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. |
| Document Type: |
conference object |
| Language: |
English |
| Relation: |
ispartofbook:Proceedings of IMAACA 2004; International Conf. on Integrated Modeling & Analysis in Applied Control & Automation; firstpage:1; lastpage:9; numberofpages:9; http://hdl.handle.net/11382/200884 |
| Availability: |
http://hdl.handle.net/11382/200884; http://www-percro.sssup.it/~antony/papers/IMAACA_Ha-06.pdf |
| Accession Number: |
edsbas.40109C10 |
| Database: |
BASE |