Simulation of enhanced force limiting gripper for bilateral teleoperation

Ruwanthika, R. M. M.; Abeykoon, A. M. Harsha S.

doi:10.1109/iciafs.2014.7069571

Cited by 4 publications

(4 citation statements)

References 15 publications

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“…As the disturbance observer is also used as a force sensor, the sampling time should be as small as possible to get a better response [24,25]. The ( 21) is known as differential mode, which represents the position relationship and ( 22) is known as common mode between the master and slave system, which represents the acceleration and attributed to the sign of equations.…”

Section: Bilateral Control Modelingmentioning

confidence: 99%

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Design and development of sensorless based 5-DOF bilaterally controlled surgical manipulator: A prototype

2021

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Minimally invasive surgery (MIS) is one of the most challenging tasks in surgical procedures due to the lack of visibility of the surgical area, instrument orientation, and depth perception. A tele-operated robot assisted minimally invasive surgery is developed to enhance a surgeon's hand dexterity and accuracy. To perform MIS, the surgeon controls a slave manipulator via a master manipulator, so the force feedback and motion feedback are required to imitate an amount of action and reaction force between master and slave manipulator. The complicated MIS requires more complex surgical manipulator with multi DOFs and multiple force feedback. The limitation of multiple DOFs force feedback is a bandwidth of torque sensors. Therefore, this study proposes a sensorless based 5-DOF Bilaterally controlled surgical manipulation. In this research disturbance observer (DOB) is used to identify the internal disturbance of the system, which is used to estimate the reaction torque. This research mainly focuses on a 5-DOF bilaterally controlled surgical manipulator to maintain a position and additional force. The result of torque error in contact motion is less than 2%, the non-contact motion error is not over 5%, and it is evident that the error is always less than 0.3% for the position response.

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Section: Bilateral Control Modelingmentioning

confidence: 99%

“…The tip of the surgical tool is a fixed end of the effector coordinate ({ee}). The kinematic of the manipulator is calculated based on the homogeneous transformation of the joint coordinate's relationship shown in (25).…”

Section: -Dof Bilaterally Controlled Surgical Arm Modellingmentioning

confidence: 99%

Design and development of sensorless based 5-DOF bilaterally controlled surgical manipulator: A prototype

2021

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“…Furthermore, a virtual spring-damper force lock system is also introduced [31]. With the aid of this system the slave side will provide feedback to the master side to avoid excessive force exertion.…”

Section: Introductionmentioning

confidence: 99%

Observer based dynamic control model for bilaterally controlled MU-lapa robot: Surgical tool force limiting

Pillai¹,

Wilasrusmee²,

Suthakorn³

2020

IJECE

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During laparoscopic surgeries, primary surgical tool insertion is the demanding and strenuous task. As the surgeon is unaware of the type of the tissue and associated parameters to conduct the insertion, therefore, to ease the procedure, the movement of the surgical tool needs to be controlled. It's the operational capabilities that are to be manipulated to perform a smooth surgery even from a distant location. In this study, a robot system is being introduced for laparoscopic primary surgical tool insertion. It will incorporate a novel observer based dynamic control along with robot assisted bilateral control. Moreover, a virtual spring damper force lock system is introduced through which the slave system will notify the master regarding the target achieved and excessive force. The validation of the proposed control system is experimented with bilaterally controlled MU-LapaRobot. The experiment is comprising 3 cases of bilateral control criteria which are non-contact motion, contact motion, and limit force locking. The results defined the same value for contact and non-contact motion by 0.3N. The results depicted a force error of 3.6% and a position error of 5.8% which validated the proposed algorithm.

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“…O movimento A outra área de pesquisa aqui representada é de engenharia. Uma situação recorrente em sistemas de teleoperação foi descrita no artigo (RUWANTHIKA; ABEYKOON, 2014), o qual propôs um limitador de força na pinça do sistema escravo, para evitar a deformação do objeto quando esse se encontra preso. Assim, a trava de força protege o objeto agarrado pelo escravo e, além disso, o limite de força é notificado pelo operador mestre por meio de uma pequena vibração.…”

Section: Descrição Do Sistema De Teleoperação Bilateral Com Tempo De ...unclassified

Métodos de filtragem, estimação e controle adaptativo indireto aplicados a sistemas de teleoperação bilateral

Rossini¹

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In this thesis, filtering, estimation and indirect adaptive control algorithms applied to bilateral teleoperation systems are proposed. The objective of this work was to identify and to implement indirect adaptive control in a slave master system. In a growing scenario of remote access to environments and equipment, as in industry 4.0, there is a need to quantify and characterize dynamic system parameters in order to improve the performance of control systems.In this manuscript three contributions regarding the teleoperated systems estimation and control are proposed. First, the Extended Kalman Filter (EKF) algorithm was combined with the Recursive Least Squares State-Variable Filter (RLSSVF), giving rise to the Hybrid Algorithm (AH1). The AH1 was able to estimate the parameters of a continuous time variant system in the state space form. In the second contribution, the Kalman Filter (KF) algorithm was combined with the Recursive Least Squares Estimator with Forgetting Factor Ú (RLSEFFÚ), originating the Hybrid Algorithm (AH2). AH2 was able to estimate specific parameters of a continuous time variant state space system. In the last contribution, the Method for Parameter and Delay Time Estimation (MEPTA) was combined with the Pole Allocation Method, giving rise to the Hybrid Algorithm for Identification and Adaptive Control (AHICA). Thus, AHICA was able to perform indirect adaptive control of a process with discrete time variant parameters. Such control system meets transient and stationary constraints, as well as the setpoint tracking.The proposed methods presented a good performance, especially regarding the algorithms coupling, what can be verified through the simulated results. Such methods can be applied to similar problems from new mathematical arrangements and computational constructions.

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Simulation of enhanced force limiting gripper for bilateral teleoperation

Cited by 4 publications

References 15 publications

Design and development of sensorless based 5-DOF bilaterally controlled surgical manipulator: A prototype

Design and development of sensorless based 5-DOF bilaterally controlled surgical manipulator: A prototype

Observer based dynamic control model for bilaterally controlled MU-lapa robot: Surgical tool force limiting

Métodos de filtragem, estimação e controle adaptativo indireto aplicados a sistemas de teleoperação bilateral

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