Experimental validation of stability and performance for position-error-based tele-surgery

In this paper, we present experimental results of a Position-Error-Based bilateral control force reflecting control scheme, which is widely used for electro-mechanical systems. The aim of the present work is to investigate the applicability of this control scheme and compare its performances on a common used teleoperation system for compliance environment. The controller is compared on position, force tracking performance and system energy using two identical linear robots coupled via network model. Contrary to a commonly held view, it is proved that the teleoperation system can remain stable when the system energy goes negative. Overall, the comparison between coordinating force and the actual contact force is compared and slave stiffness on system stability is experimentally verified for one-DOF motion.