2013 21st Iranian Conference on Electrical Engineering (ICEE) 2013
DOI: 10.1109/iraniancee.2013.6599774
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Delayed teleoperation system in presence of moving virtual fixture

Abstract: This paper presents a hybrid PD-Based controller for delayed teleoperation systems in presence of moving virtual fixtures. Virtual fixtures in such systems are used to prevent slave robots from entering the undesired areas of the workspace. For example, in Minimal Invasive Surgery (MIS), it is very important to restrain the surgical robot. It appears that employing virtual fixtures in bilateral teleoperation systems can make them unstable. In other words, virtual and software constraints, sampling rate and dat… Show more

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